After some days of coding I've managed to use the first gazebo's XML model.
I used the example.world file (without the terrain, I got seg fault with that) All the models in that file were the tradicional c++ coded based models, except for the SickLMS200 laser model. That model was loaded from a XML file: http://gazeboxml.pbwiki.com/SickLMS200 So it's very possible to mix C++ models with new XML based models. The only two differences between both (C++ and XML) models is that - The XML models still have no colours - The cylinder in the XML model is rotated (I still don't know why) The XML model can return laser and fiducial data. So far I've written the XODE parser, laser parser and sonar parser. I'm willing to open a new branch in the Gazebo CVS to deal with the development of models as XML files. I need rights in the sourceforge project for that or I can maintain that branch elsewhere (although will be much difficult to keep in sync). You don't imagine how easy is just edit the xml file in a window and launch the server in the other window. Edit, launch, edit launch.... The code still have lots of TODOs but I've tried to document it as much as possible and use the code guidelines of Gazebo. ^_^/ Jordi Polo ------------------------------------------------------- Using Tomcat but need to do more? Need to support web services, security? Get stuff done quickly with pre-integrated technology to make your job easier Download IBM WebSphere Application Server v.1.0.1 based on Apache Geronimo http://sel.as-us.falkag.net/sel?cmd=lnk&kid=120709&bid=263057&dat=121642 _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
