is gazebo deterministic ?

asked 2015-05-08 18:01:44 -0600

djou07 gravatar image

updated 2015-05-15 03:57:00 -0600

Hi,

Is Gazebo deterministic ?

are sensors deterministic ?

By deterministic I mean that if we run a simulation of a robot two times with the exact same initials conditions, we will get the same behavior. Is this the case for Gazebo ?

For sensors. Suppose that we have a contact sensor in a link and it detects if the link touches the ground or not. if I run the simulation two times. I don't get the same sequence of sensor data. why ?

If there is a noise added in purpose to get the stochastic feature, how we can deactivate it ?


PS: I am evolving neural networks to make the robot walk. One of the inputs is contact sensor. So I need to have the same sequence of contact sensor. Other-ways the robot at next generation will not reproduce same behavior.

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