Hi,
We're interested to substitute the compositional body simulation for changes
in position with one of our own which is optimized for speed. However, we'd
like to still maintain the Gazebo interface so that we can have
visualization of the object, but most importantly, to be able to attach
other objects like lasers to the top of the vehicle.
Specifically, our goal is to replace the rigid body dynamics with our own
equations.
Our first thought was to edit a model (CarChassis.{cc,hh}) and to replace
the position/pose output from the timestep with that of our own calculation;
however, it seems that this can't be done without losing visualization.
Is this the case? One scenario for us might be to duplicate the car chassis,
but have all objects be 'dummy' objects that don't get calculated when doing
positional updates (we will provide the position update at each timestep for
the CoM). We're just not sure whether dummy objects are displayed at all?
Does this make sense to anyone, or are there any comments?
Thanks,
Jonathan
==============================
Jonathan Sprinkle, Ph.D.
[EMAIL PROTECTED]
+1 510 642-0348 (work)
---
Executive Director
Center for Hybrid and Embedded Software Systems
University of California, Berkeley
---
http://www.eecs.berkeley.edu/~sprinkle/
==============================
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