Hi Nate, I spent a little while going through the SVN gazebo today had some success on Mac OS X. I ran into a few problems too which I started working on trying to fix and came up with some questions.
1. I'm having issues with the current GUI. Basically, the GUI is not becoming interactive and is running in the background while the gazebo is running in the terminal. I started working on a CEGUI/Ogre GUI and have had some success. I ran into a problem that the Observer cam wasn't working on my system so I hacked at it and seems to be working OK. I'm compiling the GUI as a native OS X application but I figured out how to compile through applescript such that I can check via scons for the platform and compile the GUI for OSX or Linux depending on the platform. Is this something that would be useful? My major concern is that I need to change the frame listener and I'm also incorporating CEGUI bits (a button to quit, etc.). This means I would need to change a good bit of the rendering source code and add a dependency. This train of thought prompted the next question. 2. The idle loop in the gazebo calls update which then calls the world file and eventually the rendering code. This would need to be changed a bit to make it so that the renderer could have its own loop. My thought was that the world and physics engine updates could be in a separate thread and the rendering loop would interface to that thread in a very similar way to wxgazebo. This also seems like a solution for permitting gazebo to run without a need for rendering. It may also start to address the multi-threading you mention in the TODO file. 3. I noticed in the TODO file you have a number of physics engine packages listed. I thought it may make it easier to switch between engines if it is only an xml flag so I went ahead and moved all of the dependence from ODE to just in the physics directory and changed how the physics engine interacted with the world, sensors, and the underlying engine (ODE). Is that direction you were thinking of going or did you have something else in mind to permit multiple engines? I can take care of all of the things I mentioned but they will result in some big changes to the source in select locations. I wanted to get your thoughts on this before I start to dive in. Also, I've updated scons to support OS X as another environment. Please let me know how you prefer changes/patches to merged (via svn check-in, patches, etc.). I can send them to you as well if you would like to review them. Thanks, Nate ------------------------------------------------------------------------- This SF.net email is sponsored by DB2 Express Download DB2 Express C - the FREE version of DB2 express and take control of your XML. No limits. Just data. Click to get it now. http://sourceforge.net/powerbar/db2/ _______________________________________________ Playerstage-gazebo mailing list [email protected] https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo
