From c7393e29c2ea5ebee5dba76545e92e42c4f5e1fb Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Tue, 18 Aug 2020 11:37:13 +0200 Subject: [PATCH 1/3] Update the comparison sheets --- citadel/comparison.md | 49 +++++++++++++++++++++++++++++-------------- 1 file changed, 33 insertions(+), 16 deletions(-) diff --git a/citadel/comparison.md b/citadel/comparison.md index 1dc8fcdefa..dcf912b20a 100644 --- a/citadel/comparison.md +++ b/citadel/comparison.md @@ -35,6 +35,28 @@ Custom update rate | ✓ | ✓ Gaussian noise | ✓ | ✓ Custom sensors | ✓ | ✓ (barrel and pincushion distorsions not supported yet) +## SDF Features + +Feature | Gazebo-classic | Ignition Gazebo +-- | -- | -- +SDF frame semantics |✓| ✓ +Load models from local files | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/123) +Closed kinematic chains | ✓ | [✕](https://github.com/ignitionrobotics/ign-physics/issues/25) +Nested models | ✓ | Partial support +Populations | ✓ | ✕ +Actors | ✓ | ✓ +Markers | ✓ | ✓ +Heightmaps | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/237) +DEM (Digital Elevation Models) | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/235) +Polylines | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/186) +World plugins | ✓ | ✓ Now called System plugin +Model plugins | ✓ | ✓ Now called System plugin +Sensor plugins | ✓ | ✓ Now called System plugin +Visual plugins | ✓ | ✓ +GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems +System plugins | ✓ | ✓ Through Ignition Launch + + ## Plugins Plugin | Gazebo-classic | Ignition Gazebo @@ -86,14 +108,16 @@ RayPlugin | ✓ | Provided through Ignition Sensors RaySensorNoisePlugin | ✓ | RubblePlugin | ✓ | ShaderParamVisualPlugin | ✓ | +SimpleTrackedVehiclePlugin | ✓ | SkidSteerDrivePlugin | ✓ | ✓ SonarPlugin | ✓ | -SphereAtlasDemoPlugin | ✓ | +SphereAtlasDemoPlugin | ✓ | StaticMapPlugin | ✓ | StopWorldPlugin | ✓ | TouchPlugin | ✓ | ✓ VehiclePlugin | ✓ | WheelSlipPlugin | ✓ | +WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141)) WindPlugin | ✓ | ✓ ElevatorPlugin | ✓ | RandomVelocityPlugin | ✓ | @@ -127,7 +151,13 @@ Video recording | ✓ | ✓ Screenshot | ✓ | View angles | ✓ | Apply force / torque | ✓ | -Introspection visualizations (transparent, joints...) | ✓ | +Visualize model as transparent | ✓ | ✕ +Visualize model as wireframe | ✓ | ✕ +Visualize contacts | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/pull/234) +Visualize link inertia | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/111) +Visualize centers of mass | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/110) +Visualize joints | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/106) +Visualize collision shapes | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/105) Follow / move to | ✓ | ✓ Copy / paste | ✓ | Building editor | ✓ | @@ -152,6 +182,7 @@ ODE engine | ✓ | Bullet engine | ✓ | DART engine | ✓ | ✓ Plugin shipped with ign-physics Simbody engine | ✓ | +TPE engine | ✕ | ✓ Custom engine plugins | ✕ | ✓ ## Rendering @@ -184,27 +215,13 @@ Supported versions: Feature | Gazebo-classic | Ignition Gazebo -- | -- | -- -Nested models | ✓ | Partial support Log / playback | ✓ | ✓ Web client (GzWeb) | ✓ | -Populations | ✓ | -Actors | ✓ | ✓ -Markers | ✓ | ✓ -Heightmaps | ✓ | -DEM (Digital Elevation Models) | ✓ | COLLADA meshes | ✓ | ✓ OBJ meshes | ✓ | ✓ STL meshes | ✓ | ✓ -Polylines | ✓ | Code introspection | ✓ | All simulation state is accessible from system plugins or through the `SceneBroadcaster`'s state topic -World plugins | ✓ | ✓ Now called System plugin -Model plugins | ✓ | ✓ Now called System plugin -Sensor plugins | ✓ | ✓ Now called System plugin -Visual plugins | ✓ | -GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems -System plugins | ✓ | ✓ Through Ignition Launch Distribute simulation across processes | ✕ | (coming up) Incrementally load levels | ✕ | ✓ Online model database | [gazebo_models repository](https://bitbucket.org/osrf/gazebo_models/) | [Ignition Fuel](https://app.ignitionrobotics.org/fuel/models) -SDF frame semantics |✓| ✓ Saved simulation states | ✓ | From bb627b62f47a5f1131709f95f7858cc09e04c6ff Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Tue, 18 Aug 2020 12:25:22 +0200 Subject: [PATCH 2/3] Update blueprint comparison sheet --- blueprint/comparison.md | 48 ++++++++++++++++++++++++++++------------- 1 file changed, 33 insertions(+), 15 deletions(-) diff --git a/blueprint/comparison.md b/blueprint/comparison.md index cc72058c9a..d156f11930 100644 --- a/blueprint/comparison.md +++ b/blueprint/comparison.md @@ -23,6 +23,7 @@ Ray | ✓ | RFID | ✓ | RFIDTag | ✓ | Sonar | ✓ | +Thermal camera | ✕ | ✕ (available in Citadel) Wide-angle camera | ✓ | Wireless receiver | ✓ | Wireless transceiver | ✓ | @@ -34,6 +35,27 @@ Custom update rate | ✓ | ✓ Gaussian noise | ✓ | ✓ Custom sensors | ✓ | ✓ (barrel and pincushion distorsions not supported yet) +## SDF Features + +Feature | Gazebo-classic | Ignition Gazebo +-- | -- | -- +SDF frame semantics |✓| ✕ (available in Citadel) +Load models from local files | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/123) +Closed kinematic chains | ✓ | [✕](https://github.com/ignitionrobotics/ign-physics/issues/25) +Nested models | ✓ | Partial support +Populations | ✓ | +Actors | ✓ | +Markers | ✓ | +Heightmaps | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/237) +DEM (Digital Elevation Models) | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/235) +Polylines | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/186) +World plugins | ✓ | ✓ Now called System plugin +Model plugins | ✓ | ✓ Now called System plugin +Sensor plugins | ✓ | ✓ Now called System plugin +Visual plugins | ✓ | ✕ (available in Citadel) +GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems +System plugins | ✓ | ✓ Through Ignition Launch + ## Plugins Plugin | Gazebo-classic | Ignition Gazebo @@ -85,6 +107,7 @@ RayPlugin | ✓ | Provided through Ignition Sensors RaySensorNoisePlugin | ✓ | RubblePlugin | ✓ | ShaderParamVisualPlugin | ✓ | +SimpleTrackedVehiclePlugin | ✓ | SkidSteerDrivePlugin | ✓ | ✓ SonarPlugin | ✓ | SphereAtlasDemoPlugin | ✓ | @@ -94,6 +117,7 @@ TouchPlugin | ✓ | ✓ VehiclePlugin | ✓ | WheelSlipPlugin | ✓ | WindPlugin | ✓ | ✓ +WheelTrackedVehiclePlugin | ✓ | ✓ ([partially via DiffDrivePlugin](https://github.com/ignitionrobotics/ign-gazebo/blob/44951e3ddfd238f24182d4d80b1376f0d426bd43/examples/worlds/track_drive.sdf#L2141)) ElevatorPlugin | ✓ | RandomVelocityPlugin | ✓ | TransporterPlugin | ✓ | @@ -126,7 +150,13 @@ Video recording | ✓ | ✓ Screenshot | ✓ | View angles | ✓ | Apply force / torque | ✓ | -Introspection visualizations (transparent, joints...) | ✓ | +Visualize model as transparent | ✓ | ✕ +Visualize model as wireframe | ✓ | ✕ +Visualize contacts | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/pull/234) +Visualize link inertia | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/111) +Visualize centers of mass | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/110) +Visualize joints | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/106) +Visualize collision shapes | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/105) Follow / move to | ✓ | ✓ Copy / paste | ✓ | Building editor | ✓ | @@ -151,6 +181,7 @@ ODE engine | ✓ | Bullet engine | ✓ | DART engine | ✓ | ✓ Plugin shipped with ign-physics Simbody engine | ✓ | +TPE engine | ✕ | ✓ Custom engine plugins | ✕ | ✓ ## Rendering @@ -166,6 +197,7 @@ Optix engine | ✕ | ✓ Partial support Custom engine plugins | ✕ | ✓ Sky | ✓ | Fog | ✓ | +Material scripts | ✓ (Ogre 1.x scripts) | Does not apply ## ROS integration @@ -182,27 +214,13 @@ Supported versions: Feature | Gazebo-classic | Ignition Gazebo -- | -- | -- -Nested models | ✓ | Partial support Log / playback | ✓ | ✓ Web client (GzWeb) | ✓ | -Populations | ✓ | -Actors | ✓ | -Markers | ✓ | -Heightmaps | ✓ | -DEM (Digital Elevation Models) | ✓ | COLLADA meshes | ✓ | ✓ OBJ meshes | ✓ | ✓ STL meshes | ✓ | ✓ -Polylines | ✓ | Code introspection | ✓ | All simulation state is accessible from system plugins or through the `SceneBroadcaster`'s state topic -World plugins | ✓ | ✓ Now called System plugin -Model plugins | ✓ | ✓ Now called System plugin -Sensor plugins | ✓ | ✓ Now called System plugin -Visual plugins | ✓ | -GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems -System plugins | ✓ | ✓ Through Ignition Launch Distribute simulation across processes | ✕ | (coming up) Incrementally load levels | ✕ | ✓ Online model database | [gazebo_models repository](https://bitbucket.org/osrf/gazebo_models/) | [Ignition Fuel](https://app.ignitionrobotics.org/fuel/models) -SDF frame semantics | | Saved simulation states | ✓ | From 420838a51b450917481b855204070ba8e1ec02ed Mon Sep 17 00:00:00 2001 From: Martin Pecka Date: Tue, 25 Aug 2020 00:41:10 +0200 Subject: [PATCH 3/3] Apply suggestions from code review Co-authored-by: Louise Poubel --- blueprint/comparison.md | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/blueprint/comparison.md b/blueprint/comparison.md index d156f11930..23b57f4930 100644 --- a/blueprint/comparison.md +++ b/blueprint/comparison.md @@ -44,15 +44,15 @@ Load models from local files | ✓ | [✕](https://github.com/ignitionrobotics/i Closed kinematic chains | ✓ | [✕](https://github.com/ignitionrobotics/ign-physics/issues/25) Nested models | ✓ | Partial support Populations | ✓ | -Actors | ✓ | -Markers | ✓ | +Actors | ✓ | ✕ (available in Citadel) +Markers | ✓ | ✕ (available in Citadel) Heightmaps | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/237) DEM (Digital Elevation Models) | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/235) Polylines | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/186) World plugins | ✓ | ✓ Now called System plugin Model plugins | ✓ | ✓ Now called System plugin Sensor plugins | ✓ | ✓ Now called System plugin -Visual plugins | ✓ | ✕ (available in Citadel) +Visual plugins | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/265) GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems System plugins | ✓ | ✓ Through Ignition Launch @@ -181,7 +181,7 @@ ODE engine | ✓ | Bullet engine | ✓ | DART engine | ✓ | ✓ Plugin shipped with ign-physics Simbody engine | ✓ | -TPE engine | ✕ | ✓ +TPE engine | ✕ | ✕ (available in Citadel) Custom engine plugins | ✕ | ✓ ## Rendering