<div dir="ltr">+1<div><br></div><div>Great work! This upgrade has been an excellent improvement!</div><div><br></div><div>Piyush</div><div class="gmail_extra"><br><br><div class="gmail_quote">On Sun, Aug 25, 2013 at 2:48 PM, William Woodall <span dir="ltr"><<a href="mailto:william@osrfoundation.org" target="_blank">william@osrfoundation.org</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="margin:0 0 0 .8ex;border-left:1px #ccc solid;padding-left:1ex"><div dir="auto"><div>+1</div><div><br></div><div>Great work Dave!<br><br>--</div><div><div><div><br>On Aug 25, 2013, at 1:30 AM, Dave Coleman <<a href="mailto:davetcoleman@gmail.com" target="_blank">davetcoleman@gmail.com</a>> wrote:<br>
<br></div><blockquote type="cite"><div><div dir="ltr"><div><div dir="ltr">Greetings,<br></div></div><div class="gmail_quote"><div dir="ltr"><div class="gmail_quote"><div dir="ltr"><div class="gmail_quote"><div dir="ltr">
<div>
<br></div><div>I'd like to announce some significant improvements in the integration of the <a href="http://gazebosim.org/" target="_blank">Gazebo simulator</a> 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, <b>we now have good <a href="http://gazebosim.org/wiki/Tutorials#ROS_Integration" target="_blank">documentation</a>.</b></div>
<div><br></div><div>The old <a href="http://www.ros.org/wiki/simulator_gazebo" target="_blank">simulator_gazebo</a> has been replaced in Hydro with a new meta package named <a href="http://www.ros.org/wiki/gazebo_ros_pkgs" target="_blank">gazebo_ros_pkgs</a>. The most significant difference is that ROS no longer builds its own version of Gazebo (e.g. ros-groovy-gazebo). Instead, <b>ROS Hydro uses the default stand-alone version of Gazebo as an upstream dependency </b>(debian)<b>.</b> <span style="font-family:arial,sans-serif;font-size:12.727272033691406px">The removal of a ROS dependency held by Gazebo (urdfdom) has facilitated this change.</span></div>
<div><br></div><div>The primary changes:</div><div><ul><li>System dependency on Gazebo</li><li>Treats URDF and SDF as equally as possible</li><li>Adds out of the box support for controllers using ros_control and transmissions - see <a href="http://gazebosim.org/wiki/Tutorials/1.9/ROS_Control_with_Gazebo" target="_blank">diagram</a><br>
</li><li>Improvements from the <a href="http://www.darpa.mil/Our_Work/TTO/Programs/DARPA_Robotics_Challenge.aspx" target="_blank">DARPA Virtual Robotics Challenge</a><br></li><li>Code cleanup and reduced code duplication with Gazebo</li>
<li>Four <b>new plugins</b>: ros_video, ros_prosilica, ros_skid_steer_drive, ros_planar_move (thanks Piyush Khandelwal, Zdenek Materna)</li>
<li>catkin-ized</li></ul></div><div>I've created a nice <a href="http://gazebosim.org/wiki/Tutorials/1.9/Overview_of_new_ROS_integration" target="_blank"><b>diagram</b> </a><a href="http://gazebosim.org/wiki/Tutorials/1.9/Overview_of_new_ROS_integration" target="_blank">and migration guide</a> for the changes involved.</div>
<div><br></div>I encourage anyone who has recently been disenfranchised with Gazebo-ROS integration to give it another try!<div><br></div><div><br></div><div>Thanks,<br><div><br clear="all"><div><div dir="ltr"><div>Dave Coleman<div style="font-family:arial,sans-serif;font-size:12.800000190734863px">
<font size="1"><span style="font-family:arial;color:rgb(102,102,102)">Open Source Robotics Foundation | 251</span><font color="#666666" face="arial">.463.2345 |</font><span style="font-family:arial"><font color="#999999"> </font></span><font color="#444444" style="font-family:arial"><a href="http://davetcoleman.com/" target="_blank">davetcoleman.com</a> </font></font></div>
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