Gazebo, SDF and Chrono::engine
As you may know, the Chrono physics engine people at the University of Wisconsin are dutifully working on an integration of their (insanely powerful) physics engine with Gazebo.
My question is, what does this mean for SDF description files? I guess the nice part about those is that you get to add stuff to the "world" without recompiling either the viewer or the engine. To tell you the truth, I don't have the slightest clue how that works. What other options are available to interacting with (and getting information from) objects in the simulation?
If Gazebo and Chrono get "integrated" does that mean that SDF files naturally would work to add things to the Gazebo simulator at runtime?
Would I have to write callbacks to determine if two objects in the simulation collided? Would I have to code a process to cast rays and trigger callbacks to "see" what is in the simulation? (and as a result, recompile Chrono).
Thanks in advance,