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Best practices for programmatic start, unpause, and shutdown of Gazebo simulation

asked 2018-06-22 13:55:25 -0500

Ubuntu 16.04
Gazebo 7.0
ROS Kinetic

Objective:
For both regression testing and experiments, I want to set up a framework that:
1) Launches Gazebo and loads the payload models/plugins, etc. w/ the simulation paused
2) Unpauses Gazebo once it has finished loading
3) Run my experiment
4) Closes gz_server & client
5) Repeat
6) Profit?!

Does anyone have advice/suggestions/templates for this type of use-pattern?


I was planning to start Gazebo via the gazebo_ros package using subprocess wtih roslaunch.

My primary concern is 2). Does Gazebo broadcast some kind of signal once it's finished starting up completely?

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answered 2018-06-25 06:04:15 -0500

wentz gravatar image

I did something like you mentioned in my work as research assistant in the university. Probably this will become open source in the next month. So I will describe how i did it and give you some hints.

I have 4 packages.

  • first generate's yaml files with the description of the simulation (models, poses ,plugins, parameter, etc)
  • second loads these files and starts all launchfiles, spawn objects, etc.
  • an observer to determine if a test has ended and if it was successful
  • a logger to collect datas like rosbag, test time, etc
  • (5.) a small visualization library

I also used python and the subprocess-API this worked fine for me. More problematic is to kill all the programs/nodes that was running (specially action_server like move_base). So at the end of the test i just reset the simulation and only kill nodes that i really need to be kill. Also over time the memory usage of my system getting really high. Couldn't figure out why is that. But for this reason i restart the framework every 100 tests.

Hope that will help you. If you have more questions please ask me.

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Thank you for the hints/tips! Very helpful. I'll be sure to ask as I run into more questions.

josephcoombe gravatar imagejosephcoombe ( 2018-06-25 10:44:24 -0500 )edit
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Asked: 2018-06-22 13:55:25 -0500

Seen: 86 times

Last updated: Jun 25