How does the population element work in SDFormat?
Looking at the SDFormat spec for v1.8, there is the /world/population element. I'm trying to figure out how this is supposed to work, but I can't seem to find more detailed docs or a usage example. If somebody can clear up my confusion a bit this would be greatly appreciated. What confuses me in particular:
- If
/world/population/distribution/type
is set to "random" (a) which distribution is used? and (b) is there a clipping range? - The element allows multiple models to be defined. If I specify multiple, how are they used? round-robin? random? only the first?
- What do the Box and Cylinder elements do? Are they objects that can be spawned as well, or do they constrain the distribution used if type is "random"?
Spec Link: http://sdformat.org/spec?ver=1.8&elem...
I also just found this tutorial on gazebosim: http://www.gazebosim.org/tutorials?tu...
It would answer question 3, in that the box and the cylinder are used for mode "random" to clip the distribution. Which opens up a new question:
- Both objects have default values. Which one will be used to spawn models inside?
Number 2: This is in fact a bug in the current spec. The source code specifies that only a single model is permitted. See this related comment in an issue on GitHub (and the previous one): https://github.com/ignitionrobotics/s...