Notes from the Gazebo Interest Group, my apologies for any errors: Attendees: Andrew Symington @Andrew_Symington Carlos Rosales Gallegos @carlosjoserg Musa Morena Marcusso @musamarcusso Ray Cole @raycoleiii Robert Lsch Marcus Ruffin @ruffsl Plus many Open Robotics people Gazebo not shutting down properly * Fixed recently in 9.4.1 * https://bitbucket.org/osrf/gazebo/pull-requests/3014/wip-address-gzserver-shutdown-speed/diff * https://bitbucket.org/osrf/gazebo/pull-requests/3018/revert-sigterm-code/diff Sim of wheeled robots driving in mining tunnels, but the simulation is slow and he doesnt know why * @mjcarroll: flamegraphs? Had a problem with robot not falling after attaching robot arm with position controller * This was fixed in gazebo9 * https://github.com/ros-simulation/gazebo_ros_pkgs/issues/479 * https://bitbucket.org/osrf/gazebo/issues/2111 * https://bitbucket.org/osrf/gazebo/pull-requests/2814/fix-issue-2111-by-providing-options-to/diff * Workaround: use effort controller instead of position controller How to learn more about gazebo_ros * @azeey helped answer this How to unthrottle simulation that could go faster than real-time * real_time_update_rate parameter: modify in sdf world, gz tool or gui * Set from GUI: http://gazebosim.org/tutorials?tut=modifying_world&cat=build_world#PhysicsProperties * ARIAC example for setting in world fie: https://bitbucket.org/osrf/ariac/src/f1c62a19374baf5f12e137f9f7329355efb1c028/osrf_gear/worlds/gear.world.template?at=master&fileviewer=file-view-default#gear.world.template-21 * From command-line: `gz physics -u 0` Is the CreateLink function working? (written by @jrivero, not sure who asked this) Spawning models: * Race conditions if one needs to be spawned before the other (such as a free-floating robot on a granite table, want them to be spawned dynamically so they can be written in urdf) * There is a spawn_model service in gazebo_ros, but it returns too fast * Shane discussed a special xml tag to insert an SDF * The spawn_model service should use quaternions instead of roll-pitch-yaw While running lots of simulations, sometimes the simulation fails with a GLX-related error * If its just gzserver and it doesnt use rendering, these errors can be avoided by disabling rendering in gzserver (it will also speed it up slightly) by using a bad DISPLAY variable or running inside a docker container that doesnt have nvidia-docker enabled FBX support * There are lots of existing models on sketchfab, often in FBX format. Bosch is interested in being able to parse FBX models. * Ian has worked on this, but its proprietary and complicated. We may come back to it if there is sufficient interest and support. Modeling sea-floor * Current workflow is to bake lots of textures into a single mesh, but its hard to export from blender. * Is the sea-floor like a DEM? There are some performance advantages to using DEMs. VisualPlugins * Underwater plumes are visualized in RVIZ with markers, but want to visualize in gzclient too. Is it possible? * Its easier with markers. (I didnt get all of Louises answer here) Camera following * Some sequence of moving camera and then follow an object caused camera to go a bit crazy Camera Z-up * Some people need to use Z-down, so its hard to make the camera point upside down. Andrew Symington would like to turn off the camera auto-flip Domain randomization * Would like to make lots of different environments with variations in which models are present, where they are located, etc. Current approach is a script that prints out different versions of world files. * Embedded scripting inside a world file was pretty useful in the Space Robotics Challenge for randomizing the world. It uses embedded ruby with snippets * https://twitter.com/chapulinaBR/status/846594820852240384 * Template: https://bitbucket.org/osrf/srcsim/src/default/worlds/unique.world.erb * Instance: https://bitbucket.org/osrf/srcsim/src/default/worlds/unique.world --- [Visit Topic](https://discourse.ros.org/t/roscon-2018-informal-meetings-of-special-interest-groups/6151/20) or reply to this email to respond. If you do not want to receive messages from ros-users please use the unsubscribe link below. If you use the one above, you will stop all of ros-users from receiving updates. ______________________________________________________________________________ ros-users mailing list ros-users@lists.ros.org http://lists.ros.org/mailman/listinfo/ros-users Unsubscribe: