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Gazebo simulation automation

asked 2018-11-28 08:27:57 -0600

Eisenhorn gravatar image

Hi,

I want to run gazebo simulations automatically over night. I am not sure where to start. The idea is, that a robot executes a specific mission. Eventually I would like a report or snapshots of checkpoints or a report.

Is there some support from gazebo or some kind of framework / plugins to help? Maybe someone has had a similar challange?

BR

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Not really frameworks, but the ServerFixture and RenderFixture classes might be useful. They are used in Gazebo for testing. http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1ServerFixture.html, http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1RenderingFixture.html

azeey gravatar imageazeey ( 2018-11-28 17:02:56 -0600 )edit

Thanks for your reply @azeey. Is there maybe a tutorial or demo implementation on how this classes are used best?

Eisenhorn gravatar imageEisenhorn ( 2018-11-29 03:26:13 -0600 )edit

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answered 2018-11-29 10:48:59 -0600

azeey gravatar image

The ServerFixture and RenderFixture classes might be useful for automating simulations. I don't know of any tutorial that covers how to use the classes, but most of the tests in gazebo use them. Here is an example of a test that spawns a PR2 and saves some pictures from its camera.

If you are manually running the simulation but want an output at the end of the simulation, you might be able to use world or system plugins, which are more accessible and have tutorials.

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For an example outside of Gazebo, you may want to look at gazebo_ros_pkgs tests on the ROS 2 branch, for example: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ros2/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp

chapulina gravatar imagechapulina ( 2018-11-29 21:07:36 -0600 )edit
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Asked: 2018-11-28 08:27:57 -0600

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Last updated: Nov 29