Gazebo goals

From Player

This page tracks the short/long terms goals of Gazebo Advances of Gazebo development can be tracked in the Gazebo changelog. The present status can be tracked in Gazebo features.

Goals for Gazebo 0.8

This version of Gazebo will contain numerous changes, listed as follows:

1. Adoption of scons over autotools
   • SCons is a build tool based on Python designed to replace Makefiles and autotools.
2. Modular physics engine
   • Allow easy integration with other physics engines. Our current focus is on ODE and Physsim.
3. OGRE rendering engine
   • New rendering engine that is efficient, easy to use. Better to leave this kind of thing to the experts.
4. XML physical description of models
   • All models will be physically described via XML. This encompasses defining the kinematic and dynamic properties of each model, and assignment of interfaces (such as position2d, sonar, laser) and controllers (such as a Pioneer2dx controller, or a Segway controller). I'll clarify the distinction between interfaces and controllers. Interfaces define the type of data input and output to expect, whereas controllers specify how that data is processed and generated.
5. Runtime pairing of interfaces and controllers
   • Ability to pair interfaces with controllers in the XML file.
6. Scripting interface for all models
   • Allow each model to call a user-defined python script. This needs to be flushed out much more. But the general idea is to allow formerly static objects (such as doors, lights, boxes, cameras) to be movable and controllable. This idea can also be applied to robots for special needs.
7. OGRE HUD and better user interface
   • Create a heads up display to display relevant information about the current simulation. Also allows the user to select objects in the environment, see information about them, and manipulate them. Possible even allow them to write and edit python scripts.
8. Better support for player proxies
   • Gazebo is really lacking in this department. We need to implement numerous relevant proxies.
9. Distributed Gazebo
   • This is a bit more out-there. But it would be really nice to run gazebo across numerous. Or run a central server that accepts client connections. Thoughts?
10. Read in and use Unreal/Doom/Quake maps.
    • Ogre have support for BSP.
11. Possibly interface with google maps??
    • Automatically create an environment based on layout of city streets, and randomly populate with buildings.
12. Multi-level buildings, elevators, doors, staircases, buttons and switches.
13. 3D-audio (openal).
14. WIFI simulation
15. GPS simulation
16. More sensors: stereo-vision, light sensors, touch, maybe even heat sensors.