So, it seems that everybody agree that having the models as XML files is a "Good Thing". It is the first step towards a GUI for an easy editing of models. It would be nice to have a GUI for worlds (already XML format), it may be even the same GUI for both!
As leader of the previous failed effort to change the models to XML format, I can say a couple of things on this issue. The XML files of Gazebo need three things: 1.- Physical definitions (OPAL does this and it seems that it does it very well) of wheels, structure, etc., of robots and the world. 2.- Graphical characteristics, colours, textures, etc. There is a way to extent OPAL to work with OGRE3D, and everything should be defined thought XML. http://ox.slug.louisville.edu/~o0lozi01/wiki/index.php/RGF:_Shape_Loader If this is not a good option, we can use the modified xODE I did or COLLADA. 3.- How the robot interacts, move, how it read and writes its information from player. This is very robotics specific and it is very unlikely that it would be any format out there supporting this. It is also impossible to find any GUI app to add these characteristics to the models. Mostly because of point 3 it will be impossible to use a GUI tool developed by others for models. So far, OPAL + Ogre3D + custom extension of the XML seems the way to go. I have checked that OPAL + Ogre3D is working, also OPAL has support for XML extensions (it just pass the extension data to the application). I'd also suggest change the world file format radically so it should be the same that any format we define for models. Once we move to XML models and new world file format we can start the GUI application and developing new models and drivers. -- Jordi Polo Wednesday 09 August 2006 23:53、Konstantinos Dalamagkidis さんは書きました: > Hi Nate, > > I'd vote too for a separate GUI app. For the toolkit I'd suggest something > that most people will have available from their distribution (gtk, Qt, ...) > so that it won't add to the dependencies. The final choice is up to the > developer(s) - what they are familiar with. If OPAL is used there is > already a GUI tool available http://www.ocelotsjungle.republika.pl/ > it's not complete but it seems it has all the basics there. > > I took a look at OPAL and it is indeed an interesting project, although > still early in its development. Their XML files seem close to what I wanted > before all that xode business, and although I didn't find a complete spec, > the example they have is quite complete > http://opal.sourceforge.net/files/example.xml > covering 4 types of sensors, motors, etc. > Btw Opal is licensed under LGPL/BSD, I hope that won't be a problem. > > As soon as what needs to be done and how is decided, you can post a TODO > list (e.g. "port robot models to Opal" or "write docs for GUI tool") and > people that want to help can start submitting their work. > > dalai > > On Wednesday 09 August 2006 11:40, Nate Koenig wrote: > > Great to hear that people want to contribute. Right now I'm in the > > middle of moving Gazebo over to Ogre3d. But there are quite a few > > things that can be done. > > > > As Luis pointed out, Gazebo is lacking an easy way to construct a > > world or a model. Here is what I envision. A new GUI should be created > > that allows a user to place models into the environment. The GUI > > should save a world file, allow the user to run the simulation, and > > make changes as necessary. This will require some work, potentially > > from a few people. If one or more people want to tackle this, then we > > need to discuss a few things: > > 1) What gui toolkit is preferable? > > 2) Should we use opal? This is an important question, it seems like > > an very interesting project, and they already have a physics editor in > > development. Here is a link to the website: > > http://ox.slug.louisville.edu/~o0lozi01/opal_wiki/index.php/Main_Page > > 3) Should this app be separate from the main simulator, or > > integrated (pause the simulation and you can start editing things)? > > > > The gazebo interface to player needs some improvements as well. We > > need full support of the simulation interface, as well as exporting > > geometries of the various models. > > > > There is always room for more sensors and models. Such as a touch > > sensor, someone can work on a light sensor, how about a model of the > > roomba. > > > > If you want to work on something, please let the mailing list know > > what you are doing. Ask for suggestions, help, pointers. I will give > > out CVS access to those who can first show me some decent code. > > > > As far as the patches that were submitted, I am not really satisfied > > with using xode. It is has been hacked to fit a robot simulator. It > > was never meant to handle the concepts of sensors and control code. > > Opal might offer a better solution, but I need other people's opinion > > on the matter. > > > > And as always, if you have ideas for changing gazebo or adding to it, > > please speak up or submit code. > > -nate > > ____________________________________________________________________ > http://www.freemail.gr - äùñåÜí õðçñåóßá çëåêôñïíéêïý ôá÷õäñïìåßïõ. > http://www.freemail.gr - free email service for the Greek-speaking. > > ------------------------------------------------------------------------- > Using Tomcat but need to do more? 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