What does Gazebo use Random number generator for?

asked 2017-08-18 07:34:57 -0500

alienmon
28 ●6 ●8 ●11

In this tutorial on Random Numbers, It says that

Gazebo makes use of a random number generator. By default its seed is set to PID But we can manually set the seed too

for example

Gazebo can be initialized with a random number seed on the command line using the --seed argument:
gazebo --seed <integer>

I tried the command gazebo --seed 9 Well, it opened gazebo , but I do not know what was changed or what was different.

I can't understand the tutorial. What is the random number for?? What does gazebo use it for? What if I change it?

I'm quite new in Gazebo, please help to explain.

answered 2017-08-21 13:21:38 -0500

iche033
998 ●4 ●8

It's used by gazebo/ignition math library for generating random numbers. For example, the rubble plugin uses the random number generator for creating rubbles, and camera noise model uses it to generate random gaussian noise, etc.

It's also passed down to the physics engines if they need it, e.g. in ODE we call dRandSetSeed

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what is the meaning of specifying integer e.g. 9 as seed? Other than things you mentioned, the gazebo simulation will behave the same?

alienmon ( 2017-08-21 23:01:51 -0500 )edit

here's an answer on the seed does: https://stackoverflow.com/questions/14914595/what-is-a-seed-in-terms-of-generating-a-random-number The fork of ODE in gazebo removes a lot of randomness in order to provide a more deterministic behavior. but to be safe, you can set the same seed every time to get repeatable simulations

iche033 ( 2017-08-22 13:53:41 -0500 )edit

@iche033 Thank you for your answer. Just to confirm..So a seed is where the random number starts from. Random number is used by gazebo for e.g. generating noise, rubbles ,etec?

alienmon ( 2017-08-23 10:05:08 -0500 )edit

yes that's correct

iche033 ( 2017-08-23 11:59:47 -0500 )edit

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