+1

Great work! This upgrade has been an excellent improvement!

Piyush


On Sun, Aug 25, 2013 at 2:48 PM, William Woodall
<william@osrfoundation.org>wrote:

> +1
>
> Great work Dave!
>
> --
>
> On Aug 25, 2013, at 1:30 AM, Dave Coleman <davetcoleman@gmail.com> wrote:
>
> Greetings,
>
> I'd like to announce some significant improvements in the integration of
> the Gazebo simulator <http://gazebosim.org/> with ROS in next week's
> rollout of Hydro. These improvements will require a few updates to existing
> robot-specific ROS packages that use Gazebo, but should overall be
> painless. Most importantly, *we now have good documentation<http://gazebosim.org/wiki/Tutorials#ROS_Integration>
> .*
>
> The old simulator_gazebo <http://www.ros.org/wiki/simulator_gazebo> has
> been replaced in Hydro with a new meta package named gazebo_ros_pkgs<http://www.ros.org/wiki/gazebo_ros_pkgs>.
> The most significant difference is that ROS no longer builds its own
> version of Gazebo (e.g. ros-groovy-gazebo). Instead, *ROS Hydro uses the
> default stand-alone version of Gazebo as an upstream dependency *(debian)*
> .* The removal of a ROS dependency held by Gazebo (urdfdom) has
> facilitated this change.
>
> The primary changes:
>
>    - System dependency on Gazebo
>    - Treats URDF and SDF as equally as possible
>    - Adds out of the box support for controllers using ros_control and
>    transmissions - see diagram<http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo>
>    - Improvements from the DARPA Virtual Robotics Challenge<http://www.darpa.mil/Our_Work/TTO/Programs/DARPA_Robotics_Challenge.aspx>
>    - Code cleanup and reduced code duplication with Gazebo
>    - Four *new plugins*: ros_video, ros_prosilica, ros_skid_steer_drive,
>    ros_planar_move (thanks Piyush Khandelwal, Zdenek Materna)
>    - catkin-ized
>
> I've created a nice *diagram* <http://gazebosim.org/wiki/Tutorials/1.9/Overview_of_new_ROS_integration>and
> migration guide<http://gazebosim.org/wiki/Tutorials/1.9/Overview_of_new_ROS_integration> for
> the changes involved.
>
> I encourage anyone who has recently been disenfranchised with Gazebo-ROS
> integration to give it another try!
>
>
> Thanks,
>
> Dave Coleman
> Open Source Robotics Foundation | 251.463.2345 | davetcoleman.com
>
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