[ros-users] other than gazebo ?

John Hsu johnhsu at willowgarage.com
Thu Jun 16 03:43:59 UTC 2011

Sorry I have lots of question ;)  What kind of robots are you thinking of
using?  what types of environments, sensors, actuation/dynamics and what
level of fidelity do you need to capture in your exercise (simulation)?

On the sensory simulation side, since you mentioned 3D, I am guessing you
want to model rgb images and point clouds from depth sensors?
With regards to world environments, do you anticipate having a "simple"
world with perfectly flat terrains and box shaped obstacles, or more complex
world with hills, valleys, caves and tunnels with realistically textured
articulated obstacles?

On the dynamics side, if f=ma is not terribly important to you, one
possibility is to disable physics computation/updates in gazebo, write a
plugin to "warp" your "bug"'s 3D poses based on some simplified heuristics
and reuse the range and image sensor generation capabilities as implemented.

On the other hand, please let me know if you something in the current gazebo
implementation is prohibiting you from making use of it in your project.
 For example, most people probably do not enjoy editing XML robot model
files? :)


On Wed, Jun 15, 2011 at 7:35 PM, Arkapravo Bhaumik <
arkapravobhaumik at gmail.com> wrote:

> Hi John
> Lets say I want to use something like the Bug Algorithms in three
> dimensions (that can be silly - I know :-) )  - I am looking for an
> environment to put these sort of things into practice.
> Regards
> Arkapravo
> On 16 June 2011 08:01, John Hsu <johnhsu at willowgarage.com> wrote:
>> Hi Arkapravo,
>> Can you elaborate a little bit about how "three dimensional modeling of
>> robot trajectories" is defined here.  What types of trajectories?  Is
>> modeling inclusive of dynamics (f=ma) or just the kinematics? Do you need
>> ray tracing? image generation from 3D models? what kind of constraints are
>> implied if any? etc.
>> Thanks,
>> John
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John Hsu, Ph.D.
Senior Research Engineer
Willow Garage Inc.
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