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2015-11-09 16:32:07 -0500 commented answer Why does performance decrease when removing / inserting models?

Anyway doing some statistical profiling (for example using http://www.brendangregg.com/FlameGraphs/cpuflamegraphs.html) on your test should highlight the slow code path.

2015-11-09 16:13:53 -0500 commented answer Why does performance decrease when removing / inserting models?

By the way, are you sure that the slowdown is actually superlinear ? I assume that the RTF is proportional to the inverse of the physics loop computation time, so plotting the inverse of the RTF could give some more insight.

2015-11-09 16:11:16 -0500 commented answer Why does performance decrease when removing / inserting models?

I always assumed that there is some kind of "list" of models that is not properly cleaned during model delete due to the shared pointer loop. An easy check is to see the name of the same model if you respawn it after that you delete it. In the case of unit_sphere_0 the names will be unit_sphere_0_0 , unit_sphere_0_1, unit_sphere_0_2 etc etc. Checking the logic of how this names are assigned could lead you to the data structure that is not properly cleared.

2015-11-08 19:16:00 -0500 answered a question Why does performance decrease when removing / inserting models?

I have the impression that this kind of behaviors are due to https://bitbucket.org/osrf/gazebo/iss... .

2015-11-05 02:38:19 -0500 commented answer Skip looking for models online? (GAZEBO_MODEL_DATABASE_URI)

Yes.. as far as I remember that warning did not had any effect (i.e. there was no timeout).

2015-11-04 17:46:23 -0500 answered a question Skip looking for models online? (GAZEBO_MODEL_DATABASE_URI)

I did not check on the latest version, but on Gazebo ~2/3 setting GAZEBO_MODEL_DATABASE_URI to "" had the effect of skipping the download of online models.

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2015-10-15 02:21:15 -0500 answered a question A correct way to implement "fixed" joint?

For the people finding this question on Google: fixed joints are directly supported in Gazebo since Gazebo6 , using the "fixed" joint type.

2015-04-12 14:04:19 -0500 commented answer How to simulate sensor feedback from an accelerometer/gryoscope

There is an example on how to build a plugin accessing a contact sensor in http://gazebosim.org/tutorials?tut=contact_sensor . By comparing the API of ContactSensor with the one of ImuSensor (http://osrf-distributions.s3.amazonaws.com/gazebo/api/5.0.0/classgazebo_1_1sensors_1_1ImuSensor.html#details) , getting a working plugin for an Imu should be trivial.

2015-04-12 03:50:20 -0500 answered a question How to simulate sensor feedback from an accelerometer/gryoscope

You should probably check the IMU (Inertial Measurement Unit) sensor, that simulates both an accelerometer and a gyroscope: http://gazebosim.org/tutorials?tut=se... .

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2015-01-27 02:53:01 -0500 answered a question SetForce with ODE Engine: error in documentation?

The SetForce method is implemented for all the physics engines, check for example the ODE implementation and the Bullet implementation.

However a known issue is that the SetForce documentation is incomplete, see the related issue in the Gazebo Bug-tracker: https://bitbucket.org/osrf/gazebo/issue/878/joint-setforce-documentation-incomplete . If you plan to use this function, I suggest you vote for this issue.

2014-08-15 11:37:37 -0500 commented answer Estimated roadmap for Windows support

I guess then VS2013 is the way to go, C++11 support in Visual Studio is still not complete but VS2013 improved the situation. For giving an example, SDFormat is not compiling on VS2012 because the isfinite C++11 function is missing.

2014-08-15 10:02:00 -0500 commented answer Estimated roadmap for Windows support

Thanks a lot. I started to look into compiling SDFormat for Windows, from the Jenkins build I guess you are targeting/supporting only Visual Studio 2013 (or newer)?

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2014-06-18 09:14:13 -0500 answered a question Can we convert a .sdf file to .urdf. I need to use the file in MoveIt. But it accepts only .urdf files.

A unofficial SDF -> URDF converter has been announced in the Gazebo mailing list: http://gazebosim.org/pipermail/gazebo-list/2014-June/000228.html .

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2014-06-01 14:41:09 -0500 answered a question CMake gazebo package not found when installing from source

If it is not strictly necessary to use pkg_check_modules, you can try with

find_package(gazebo REQUIRED)

That for me works perfectly with gazebo 3.0 installed from source.

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2014-01-21 02:59:56 -0500 asked a question Estimated roadmap for Windows support

Hi, I have a question regarding the estimate on when Gazebo will support Windows operating system. I read in the Roadmap page in the wiki ( http://gazebosim.org/wiki/Roadmap ) that Windows support is expected for September 2014. Is this forecast still valid?

Thank you very much in advance for the answer.

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2013-11-12 23:24:04 -0500 asked a question Gazebo plugin sdf configuration tags proper documentation

Hi, I was documenting some Gazebo plugins and I was adding information about how to configure them (using the child sdf tags of the <plugin> element) in the doxygen plugin class documentation, but I don't know if it is the right place. I was then wondering if there is a standard/guideline for proper documenting the child sdf tags that a Gazebo plugin accepts for configuration.