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2013-08-30 11:07:21 -0500 commented answer Does CloudSim have to use AWS?

What about using a (somewhat) AWS-compatible cloud manager, like Cloudstack (http://cloudstack.apache.org/)? Can you list the AWS features required for CloudSim right now?

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2013-01-24 07:26:32 -0500 commented answer Is it possible to distribute sensors over multiple computers?

The problem here is that those sensors that only need the pose (e.g. IMU) are really not computationally intensive. Range sensors on the other hand are, but they need the world geometry.

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2013-01-24 07:23:27 -0500 commented answer Is it possible to check whether a model intersects some geometry?

Thanks for the clarification. I guess this will be a not-so-trivial addition to Gazebo since it's not only a matter of doing the query, it's also a matter of describing these volumes in SDF. Or could this be solved as a model plugin? After all, it's just a matter of setting collision masks properly.

2013-01-23 03:50:32 -0500 commented answer SDF vs URDF what should one use?

What about SRDF?

2013-01-23 03:48:28 -0500 asked a question What is the difference between URDF/SRDF and SDF? Why is there no synergy even though both come (mostly) from Willow?

The original question was not fully answered: http://answers.gazebosim.org/question/782/recommended-way-of-using-gazebo-with-ros-groovy/

Can you elaborate on the differences between the two formats and why the design decision was made to come up with a new XML description format? Is there any way to translate SDF to URDF/SRDF or vice versa automatically? Modeling the robot once is always preferable to maintaining separate models. Also, saying that there will be a stand-alone version and ROS should adopt it is not a valid answer.

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2013-01-23 02:18:43 -0500 asked a question Is it possible to check whether a model intersects some geometry?

I would like to use Gazebo for simulating underwater vehicles. Ideally, I would want to know how much of my vehicle's volume is submerged in a water body, this allows me to calculate how much buoyancy to apply to make it float.

However, I can imagine more uses for a "volume query" if you will:

  • Triggers for world changes, e.g. some event occurs if the robot enters or exits the volume

  • Sensor behavior changes, e.g. a kinect won't work in the "outdoor" volume

  • For external simulators: e.g. Radio-dropout zones in RoboCup Rescue (though this should be implemented as a wifi blocking volume rather than a "wifi doesn't work here" volume)

Ideally, there should be three states: Outside, Transition (robot intersects boundary), Inside

I know this is possible with Bullet, I've done something similar, but it's necessary to set up some collision masks and do a manual query. Is there a way to access the underlying physics engine? Also, is it possible to add such logical geometry without visual and only "non-colliding" (does this make sense?) collision shapes to explicitly ask them for collisions later in a plugin?

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2012-11-29 03:21:19 -0500 commented answer Can Gazebo take advantage of dual GPUs in an NVIDIA GTX-690 system?

There is GPU support for running range sensors though, right? At least there is API documentation about it. Is that running well?

2012-11-28 04:37:08 -0500 asked a question Is it possible to distribute sensors over multiple computers?

I would like to simulate a number of robots (up to let's say 10) in real time, each with a significant sensor suite. Is it possible to distribute sensors as slaves to the physics simulation across multiple machines? If it's not right now, does the architecture readily support it? I could imagine a plugin to the main server to broadcast world changes, and a "fake" physics that passes that on to the local sensors on each slave machine.