From: Dave Coleman <davetcoleman(a)gmail.com>
Reply-to: User discussions <ros-users(a)code.ros.org>
Subject: [ros-users] Fwd: Announcing gazebo_ros_pkgs
Date: Sun, 25 Aug 2013 01:30:00 -0700
I'd like to announce some significant improvements in the integration
of the Gazebo simulator with ROS in next week's rollout of Hydro.
These improvements will require a few updates to existing
robot-specific ROS packages that use Gazebo, but should overall be
painless. Most importantly, we now have good documentation.
The old simulator_gazebo has been replaced in Hydro with a new meta
package named gazebo_ros_pkgs. The most significant difference is that
ROS no longer builds its own version of Gazebo (e.g.
ros-groovy-gazebo). Instead, ROS Hydro uses the default stand-alone
version of Gazebo as an upstream dependency (debian). The removal of a
ROS dependency held by Gazebo (urdfdom) has facilitated this change.
The primary changes:
* System dependency on Gazebo
* Treats URDF and SDF as equally as possible
* Adds out of the box support for controllers using ros_control
and transmissions - see diagram
* Improvements from the DARPA Virtual Robotics Challenge
* Code cleanup and reduced code duplication with Gazebo
* Four new plugins: ros_video, ros_prosilica,
ros_skid_steer_drive, ros_planar_move (thanks Piyush
Khandelwal, Zdenek Materna)
I've created a nice diagram and migration guide for the changes
I encourage anyone who has recently been disenfranchised with
Gazebo-ROS integration to give it another try!
Open Source Robotics Foundation | 251.463.2345 | davetcoleman.com
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