Revision: 8686
http://playerstage.svn.sourceforge.net/playerstage/?rev=8686&view=rev
Author: natepak
Date: 2010-05-17 20:04:25 +0000 (Mon, 17 May 2010)
Log Message:
-----------
Added ability to start gazebo with no world file
Modified Paths:
--------------
code/gazebo/trunk/server/GazeboMessage.cc
code/gazebo/trunk/server/Param.hh
code/gazebo/trunk/server/Simulator.cc
code/gazebo/trunk/server/Simulator.hh
code/gazebo/trunk/server/World.cc
code/gazebo/trunk/server/XMLConfig.cc
code/gazebo/trunk/server/gui/Gui.cc
code/gazebo/trunk/server/main.cc
code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
code/gazebo/trunk/server/rendering/OgreAdaptor.cc
Modified: code/gazebo/trunk/server/GazeboMessage.cc
===================================================================
--- code/gazebo/trunk/server/GazeboMessage.cc 2010-05-17 18:14:43 UTC (rev
8685)
+++ code/gazebo/trunk/server/GazeboMessage.cc 2010-05-17 20:04:25 UTC (rev
8686)
@@ -74,11 +74,6 @@
{
char logFilename[50];
- if (!node)
- {
- gzthrow("Null XMLConfig node");
- }
-
this->verbosityP->Load(node);
this->logDataP->Load(node);
Modified: code/gazebo/trunk/server/Param.hh
===================================================================
--- code/gazebo/trunk/server/Param.hh 2010-05-17 18:14:43 UTC (rev 8685)
+++ code/gazebo/trunk/server/Param.hh 2010-05-17 20:04:25 UTC (rev 8686)
@@ -152,8 +152,11 @@
std::ostringstream stream;
stream << this->defaultValue;
- std::string input = node->GetString(this->key, stream.str(),
- this->required);
+ std::string input;
+ if (node)
+ input = node->GetString(this->key, stream.str(), this->required);
+ else
+ input = stream.str();
this->SetFromString( input );
}
Modified: code/gazebo/trunk/server/Simulator.cc
===================================================================
--- code/gazebo/trunk/server/Simulator.cc 2010-05-17 18:14:43 UTC (rev
8685)
+++ code/gazebo/trunk/server/Simulator.cc 2010-05-17 20:04:25 UTC (rev
8686)
@@ -50,6 +50,47 @@
using namespace gazebo;
+std::string Simulator::defaultWorld =
+"<?xml version='1.0'?> <gazebo:world
xmlns:xi='http://www.w3.org/2001/XInclude'
xmlns:gazebo='http://playerstage.sourceforge.net/gazebo/xmlschema/#gz'
xmlns:model='http://playerstage.sourceforge.net/gazebo/xmlschema/#model'
xmlns:sensor='http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor'
xmlns:body='http://playerstage.sourceforge.net/gazebo/xmlschema/#body'
xmlns:geom='http://playerstage.sourceforge.net/gazebo/xmlschema/#geom'
xmlns:joint='http://playerstage.sourceforge.net/gazebo/xmlschema/#joint'
xmlns:interface='http://playerstage.sourceforge.net/gazebo/xmlschema/#interface'
xmlns:rendering='http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering'
xmlns:renderable='http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable'
xmlns:controller='http://playerstage.sourceforge.net/gazebo/xmlschema/#controller'
xmlns:physics='http://playerstage.sourceforge.net/gazebo/xmlschema/#physics' >\
+ <physics:ode>\
+ <stepTime>0.001</stepTime>\
+ <gravity>0 0 -9.8</gravity>\
+ <cfm>0.0000000001</cfm>\
+ <erp>0.2</erp>\
+ <quickStep>true</quickStep>\
+ <quickStepIters>10</quickStepIters>\
+ <quickStepW>1.3</quickStepW>\
+ <contactMaxCorrectingVel>100.0</contactMaxCorrectingVel>\
+ <contactSurfaceLayer>0.001</contactSurfaceLayer>\
+ </physics:ode>\
+ <rendering:gui>\
+ <type>fltk</type>\
+ <size>800 600</size>\
+ <pos>0 0</pos>\
+ </rendering:gui>\
+ <rendering:ogre>\
+ <ambient>1 1 1 1</ambient>\
+ <shadowTechnique>stencilModulative</shadowTechnique>\
+ <grid>false</grid>\
+ </rendering:ogre>\
+ <model:physical name=\"plane1_model\">\
+ <xyz>0 0 0</xyz>\
+ <rpy>0 0 0</rpy>\
+ <static>true</static>\
+ <body:plane name=\"plane1_body\">\
+ <geom:plane name=\"plane1_geom\">\
+ <normal>0 0 1</normal>\
+ <size>100 100</size>\
+ <segments>10 10</segments>\
+ <uvTile>100 100</uvTile>\
+ <material>Gazebo/GrayGrid</material>\
+ <mu1>109999.0</mu1>\
+ <mu2>1000.0</mu2>\
+ </geom:plane>\
+ </body:plane>\
+ </model:physical>\
+</gazebo:world>";
+
////////////////////////////////////////////////////////////////////////////////
// Constructor
Simulator::Simulator()
@@ -150,9 +191,13 @@
// Load the world file
this->xmlFile=new gazebo::XMLConfig();
+
try
{
- this->xmlFile->Load(worldFileName);
+ if (worldFileName.size())
+ this->xmlFile->Load(worldFileName);
+ else
+ this->xmlFile->LoadString(defaultWorld);
}
catch (GazeboError e)
{
@@ -183,19 +228,23 @@
{
try
{
- XMLConfigNode *childNode = rootNode->GetChild("gui");
+ XMLConfigNode *childNode = NULL;
+ if (rootNode)
+ childNode = rootNode->GetChild("gui");
+ int width, height, x, y;
+
if (childNode)
{
- int width = childNode->GetTupleInt("size", 0, 800);
- int height = childNode->GetTupleInt("size", 1, 600);
- int x = childNode->GetTupleInt("pos",0,0);
- int y = childNode->GetTupleInt("pos",1,0);
+ width = childNode->GetTupleInt("size", 0, 800);
+ height = childNode->GetTupleInt("size", 1, 600);
+ x = childNode->GetTupleInt("pos",0,0);
+ y = childNode->GetTupleInt("pos",1,0);
+ }
- //gzmsg(1) << "Creating GUI: Pos[" << x << " " << y
- // << "] Size[" << width << " " << height << "]\n";
-
// Create the GUI
+ if (childNode || !rootNode)
+ {
this->gui = new Gui(x, y, width, height, "Gazebo");
this->gui->Load(childNode);
Modified: code/gazebo/trunk/server/Simulator.hh
===================================================================
--- code/gazebo/trunk/server/Simulator.hh 2010-05-17 18:14:43 UTC (rev
8685)
+++ code/gazebo/trunk/server/Simulator.hh 2010-05-17 20:04:25 UTC (rev
8686)
@@ -254,6 +254,7 @@
private: friend class DestroyerT<Simulator>;
private: friend class SingletonT<Simulator>;
+ private: static std::string defaultWorld;
};
Modified: code/gazebo/trunk/server/World.cc
===================================================================
--- code/gazebo/trunk/server/World.cc 2010-05-17 18:14:43 UTC (rev 8685)
+++ code/gazebo/trunk/server/World.cc 2010-05-17 20:04:25 UTC (rev 8686)
@@ -196,19 +196,24 @@
}
// Load OpenAL audio
- if (rootNode->GetChild("openal","audio"))
+ if (rootNode && rootNode->GetChild("openal","audio"))
{
this->openAL = OpenAL::Instance();
this->openAL->Load(rootNode->GetChild("openal", "audio"));
}
- XMLConfigNode *physicsNode = rootNode->GetChildByNSPrefix("physics");
+ XMLConfigNode *physicsNode = NULL;
+ if (rootNode )
+ physicsNode = rootNode->GetChildByNSPrefix("physics");
+
if (Simulator::Instance()->GetPhysicsEnabled() && physicsNode)
{
this->physicsEngine = PhysicsFactory::NewPhysicsEngine(
physicsNode->GetName());
if (this->physicsEngine == NULL)
gzthrow("Unable to create physics engine\n");
}
+ else
+ this->physicsEngine = PhysicsFactory::NewPhysicsEngine("ode");
// last bool is initModel, init model is not needed as Init()
// is called separately from main.cc
@@ -451,7 +456,7 @@
XMLConfigNode *cnode;
Model *model = NULL;
- if (node->GetNSPrefix() != "")
+ if (node && node->GetNSPrefix() != "")
{
// Check for model nodes
if (node->GetNSPrefix() == "model")
@@ -462,11 +467,9 @@
}
// Load children
- for (cnode = node->GetChild(); cnode != NULL; cnode = cnode->GetNext())
- {
- this->LoadEntities( cnode, model, removeDuplicate, initModel);
- }
-
+ if (node)
+ for (cnode = node->GetChild(); cnode != NULL; cnode = cnode->GetNext())
+ this->LoadEntities( cnode, model, removeDuplicate, initModel);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/XMLConfig.cc
===================================================================
--- code/gazebo/trunk/server/XMLConfig.cc 2010-05-17 18:14:43 UTC (rev
8685)
+++ code/gazebo/trunk/server/XMLConfig.cc 2010-05-17 20:04:25 UTC (rev
8686)
@@ -390,7 +390,6 @@
{
XMLConfigNode *tmp;
-
for (tmp = this->childFirst; tmp != NULL; tmp = tmp->GetNext() )
{
if (tmp->xmlNode->name && name == (const char*)tmp->xmlNode->name)
Modified: code/gazebo/trunk/server/gui/Gui.cc
===================================================================
--- code/gazebo/trunk/server/gui/Gui.cc 2010-05-17 18:14:43 UTC (rev 8685)
+++ code/gazebo/trunk/server/gui/Gui.cc 2010-05-17 20:04:25 UTC (rev 8686)
@@ -136,7 +136,10 @@
this->sizeP->Load(node);
this->posP->Load(node);
- this->frameMgr->Load( node->GetChild("frames") );
+ if (node)
+ this->frameMgr->Load( node->GetChild("frames") );
+ else
+ this->frameMgr->Load(NULL);
}
////////////////////////////////////////////////////////////////////////////////
Modified: code/gazebo/trunk/server/main.cc
===================================================================
--- code/gazebo/trunk/server/main.cc 2010-05-17 18:14:43 UTC (rev 8685)
+++ code/gazebo/trunk/server/main.cc 2010-05-17 20:04:25 UTC (rev 8686)
@@ -112,7 +112,7 @@
#include "Global.hh"
// Command line options
-const char *worldFileName;
+std::string worldFileName = "";
const char *optLogFileName = NULL;
unsigned int optServerId = 0;
bool optServerForce = true;
@@ -225,14 +225,15 @@
argc -= optind;
argv += optind;
- if (argc < 1)
+ /*if (argc < 1)
{
PrintUsage();
return -1;
- }
+ }*/
// Get the world file name
- worldFileName = argv[0];
+ if (argc > 1)
+ worldFileName = argv[0];
return 0;
}
Modified: code/gazebo/trunk/server/physics/ode/ODEPhysics.cc
===================================================================
--- code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-05-17 18:14:43 UTC
(rev 8685)
+++ code/gazebo/trunk/server/physics/ode/ODEPhysics.cc 2010-05-17 20:04:25 UTC
(rev 8686)
@@ -130,10 +130,11 @@
// Load the ODE engine
void ODEPhysics::Load(XMLConfigNode *node)
{
- XMLConfigNode *cnode = node->GetChild("ode", "physics");
- if (cnode == NULL)
- gzthrow("Must define a <physics:ode> node in the XML file");
+ XMLConfigNode *cnode = NULL;
+ if (node)
+ cnode = node->GetChild("ode", "physics");
+
this->gravityP->Load(cnode);
this->stepTimeP->Load(cnode);
this->updateRateP->Load(cnode);
Modified: code/gazebo/trunk/server/rendering/OgreAdaptor.cc
===================================================================
--- code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-05-17 18:14:43 UTC
(rev 8685)
+++ code/gazebo/trunk/server/rendering/OgreAdaptor.cc 2010-05-17 20:04:25 UTC
(rev 8686)
@@ -245,10 +245,6 @@
/// Load the parameters for Ogre
void OgreAdaptor::Load(XMLConfigNode *rootNode)
{
- XMLConfigNode *node;
-
- node = rootNode->GetChild("ogre", "rendering");
-
// Make the root
try
{
@@ -276,10 +272,11 @@
// Initialize ogre
void OgreAdaptor::Init(XMLConfigNode *rootNode)
{
- XMLConfigNode *node;
+ XMLConfigNode *node = NULL;
Ogre::ColourValue ambient;
- node = rootNode->GetChild("ogre", "rendering");
+ if (rootNode)
+ node = rootNode->GetChild("ogre", "rendering");
/// Create a dummy rendering context.
/// This will allow gazebo to run headless. And it also allows OGRE to
@@ -314,7 +311,7 @@
Ogre::TextureManager::getSingleton().setDefaultNumMipmaps( 5 );
// Get the SceneManager, in this case a generic one
- if (node->GetChild("bsp"))
+ if (node && node->GetChild("bsp"))
{
this->sceneType= SCENE_BSP;
this->sceneMgr = this->root->createSceneManager("BspSceneManager");
@@ -383,14 +380,15 @@
// Add a sky dome to our scene
- if (node->GetChild("sky"))
+ if (node && node->GetChild("sky"))
{
this->skyMaterialP->Load(node->GetChild("sky"));
OgreCreator::CreateSky(**(this->skyMaterialP));
}
// Add fog. This changes the background color
- OgreCreator::CreateFog(node->GetChild("fog"));
+ if (node)
+ OgreCreator::CreateFog(node->GetChild("fog"));
if (**(this->drawGridP))
OgreCreator::DrawGrid();
@@ -398,7 +396,8 @@
// Set up the world geometry link
if (this->sceneType==SCENE_BSP)
{
- this->worldGeometry = node->GetString("bsp","",1);
+ if (node)
+ this->worldGeometry = node->GetString("bsp","",1);
try
{
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