Notes from the Gazebo Interest Group, my apologies for any errors:
Andrew Symington @Andrew_Symington
Carlos Rosales Gallegos @carlosjoserg
Musa Morena Marcusso @musamarcusso
Ray Cole @raycoleiii
Plus many Open Robotics people
Gazebo not shutting down properly
Sim of wheeled robots driving in mining tunnels, but the simulation is slow and he doesn’t know why
Had a problem with robot not falling after attaching robot arm with position controller
- This was fixed in gazebo9
- Workaround: use effort controller instead of position controller
How to learn more about gazebo_ros
How to unthrottle simulation that could go faster than real-time
Is the CreateLink function working? (written by @jrivero, not sure who asked this)
- Race conditions if one needs to be spawned before the other (such as a free-floating robot on a granite table, want them to be spawned dynamically so they can be written in urdf)
- There is a spawn_model service in gazebo_ros, but it returns too fast
- Shane discussed a special xml tag to insert an SDF
- The spawn_model service should use quaternions instead of roll-pitch-yaw
While running lots of simulations, sometimes the simulation fails with a GLX-related error
- If it’s just gzserver and it doesn’t use rendering, these errors can be avoided by disabling rendering in gzserver (it will also speed it up slightly) by using a bad DISPLAY variable or running inside a docker container that doesn’t have nvidia-docker enabled
- There are lots of existing models on sketchfab, often in FBX format. Bosch is interested in being able to parse FBX models.
- Ian has worked on this, but it’s proprietary and complicated. We may come back to it if there is sufficient interest and support.
- Current workflow is to bake lots of textures into a single mesh, but it’s hard to export from blender.
- Is the sea-floor like a DEM? There are some performance advantages to using DEM’s.
- Underwater plumes are visualized in RVIZ with markers, but want to visualize in gzclient too. Is it possible?
- It’s easier with markers. (I didn’t get all of Louise’s answer here)
- Some sequence of moving camera and then follow an object caused camera to go a bit crazy
- Some people need to use Z-down, so it’s hard to make the camera point upside down. Andrew Symington would like to turn off the camera auto-flip
- Would like to make lots of different environments with variations in which models are present, where they are located, etc. Current approach is a script that prints out different versions of world files.