0
$\begingroup$

Gazebo Answers logo

Hi,

I want to run gazebo simulations automatically over night. I am not sure where to start. The idea is, that a robot executes a specific mission. Eventually I would like a report or snapshots of checkpoints or a report.

Is there some support from gazebo or some kind of framework / plugins to help? Maybe someone has had a similar challange?

BR


Originally posted by Eisenhorn on Gazebo Answers with karma: 43 on 2018-11-28

Post score: 0


Original comments

Comment by azeey on 2018-11-28:
Not really frameworks, but the ServerFixture and RenderFixture classes might be useful. They are used in Gazebo for testing.

http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1ServerFixture.html, http://osrf-distributions.s3.amazonaws.com/gazebo/api/dev/classgazebo_1_1RenderingFixture.html

Comment by Eisenhorn on 2018-11-29:
Thanks for your reply @azeey. Is there maybe a tutorial or demo implementation on how this classes are used best?

Comment by tahsinkose on 2019-06-21:
I wonder, whether the OP have found a solution for this. I have the exact same use case and don't want to reinvent the wheel.

$\endgroup$

2 Answers 2

0
$\begingroup$

Gazebo Answers logo

The ServerFixture and RenderFixture classes might be useful for automating simulations. I don't know of any tutorial that covers how to use the classes, but most of the tests in gazebo use them. Here is an example of a test that spawns a PR2 and saves some pictures from its camera.

If you are manually running the simulation but want an output at the end of the simulation, you might be able to use world or system plugins, which are more accessible and have tutorials.


Originally posted by azeey with karma: 704 on 2018-11-29

This answer was NOT ACCEPTED on the original site

Post score: 1


Original comments

Comment by chapulina on 2018-11-29:
For an example outside of Gazebo, you may want to look at gazebo_ros_pkgs tests on the ROS 2 branch, for example: https://github.com/ros-simulation/gazebo_ros_pkgs/blob/ros2/gazebo_plugins/test/test_gazebo_ros_diff_drive.cpp

$\endgroup$
0
$\begingroup$

Gazebo Answers logo

In the end I wrote a pyhton test script using the actionlib.SimpleActionClient (http://wiki.ros.org/actionlib_tutorials/Tutorials/Writing%20a%20Simple%20Action%20Client%20%28Python%29) interface. You can then create a json file with all your goals/actions.


Originally posted by Eisenhorn with karma: 43 on 2019-09-02

This answer was ACCEPTED on the original site

Post score: 0

$\endgroup$

Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.