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Update the comparison sheets #61

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Aug 25, 2020
Merged

Update the comparison sheets #61

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c7393e2
Update the comparison sheets
peci1 Aug 18, 2020
bb627b6
Update blueprint comparison sheet
peci1 Aug 18, 2020
420838a
Apply suggestions from code review
peci1 Aug 24, 2020
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48 changes: 33 additions & 15 deletions blueprint/comparison.md
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Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ Ray | ✓ |
RFID | ✓ |
RFIDTag | ✓ |
Sonar | ✓ |
Thermal camera | ✕ | ✕ (available in Citadel)
Wide-angle camera | ✓ |
Wireless receiver | ✓ |
Wireless transceiver | ✓ |
Expand All @@ -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 | ✓ | ✕ (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 | ✓ | [✕](https://github.com/ignitionrobotics/ign-gazebo/issues/265)
GUI plugins | ✓ | ✓ Ignition GUI plugins and Gazebo GUI systems
System plugins | ✓ | ✓ Through Ignition Launch

## Plugins

Plugin | Gazebo-classic | Ignition Gazebo
Expand Down Expand Up @@ -85,6 +107,7 @@ RayPlugin | ✓ | Provided through Ignition Sensors
RaySensorNoisePlugin | ✓ |
RubblePlugin | ✓ |
ShaderParamVisualPlugin | ✓ |
SimpleTrackedVehiclePlugin | ✓ |
SkidSteerDrivePlugin | ✓ | ✓
SonarPlugin | ✓ |
SphereAtlasDemoPlugin | ✓ |
Expand All @@ -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 | ✓ |
Expand Down Expand Up @@ -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 | ✓ |
Expand All @@ -151,6 +181,7 @@ ODE engine | ✓ |
Bullet engine | ✓ |
DART engine | ✓ | ✓ Plugin shipped with ign-physics
Simbody engine | ✓ |
TPE engine | ✕ | ✕ (available in Citadel)
Custom engine plugins | ✕ | ✓

## Rendering
Expand All @@ -166,6 +197,7 @@ Optix engine | ✕ | ✓ Partial support
Custom engine plugins | ✕ | ✓
Sky | ✓ |
Fog | ✓ |
Material scripts | ✓ (Ogre 1.x scripts) | Does not apply

## ROS integration

Expand All @@ -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 | ✓ |
49 changes: 33 additions & 16 deletions citadel/comparison.md
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -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
Expand Down Expand Up @@ -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 | ✓ |
Expand Down Expand Up @@ -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 | ✓ |
Expand All @@ -152,6 +182,7 @@ ODE engine | ✓ |
Bullet engine | ✓ |
DART engine | ✓ | ✓ Plugin shipped with ign-physics
Simbody engine | ✓ |
TPE engine | ✕ | ✓
Custom engine plugins | ✕ | ✓

## Rendering
Expand Down Expand Up @@ -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 | ✓ |