simulation/frc_gazebo_plugins/README.md

Gazebo plugins for FRC
======================

These plugins enable the use of the Gazebo physics simulator to model robots,
and then use WPILIB programming libraries to control those simulated robots.

At the present time, this only builds on Linux, and has a fairly complex
installation process.

You must have the gazebo development packages available on Linux.
The gradle build system will automatically skip building this directory
if those requirements are not met.

This command:

    `./gradlew build -PforceGazebo`

will force it to attempt to build.

TODO:  The meshes for the models are large, and are not hosted in
the main allwpilib repository.  An alternate method of hosting
and using is being built at the time of this commit. You must
manually locate and copy the the models and world from that
either into /usr/share/frcgazebo or into build/share/frcgazebo
in order to use this facility.

Once you have built it, then a command like this:

  `simulation/frc_gazebo_plugins/build/bin/frcgazebo PacGoat2014.world`

should run the Gazebo simulation using our plugins against the
2014 model, with the PacGoat robot on the field.

The halsim_gazebo simulation library will provide a method for
running robot code to control a simulated robot.


TODO:  Package the plugins more nicely, and then put instructions here.

TODO:  Build and package the plugins for Windows.  The key there is to get gazebo
working on Windows.  This link was a useful trove of information on Windows/Gazebo
issues as of September, 2017:
  https://bitbucket.org/osrf/gazebo/issues/2129/visual-studio-2015-compatibility

Note that the sense remains that this will be difficult at best.
Bring back the gazebo plugins (#1063) The models and meshes are not included. We will need to find an alternate way to reintegrate these and use them. * Add simulation/gz_msgs back, and build with Gradle. * Add back in the frc simulation plugins for gazebo. * Add a new shared library, halsim_gazebo. This library will become the interface between the HAL sim layer and gazebo. * Preserve the first channel number used in created Encoders in the Sim MockData. This allows us to use the DIO channel number to connect with simulated encoders. * Have the HAL Simulator set the reverse direction on creation. This enables a simulator to be aware of the direction. * Add a drive_motor plugin. This is a bit of a 'magic' motor, which allows us to build robot models that drive in a more realistic fashion. It does this by apply forces directly to the chassis, rather than relying on the complex motion dynamics of a driven wheel. This in turn allows the model to reduce wheel friction, reducing scrub, and allowing for a more natural driving experience. 2018-06-30 02:45:21 -05:00			`Gazebo plugins for FRC`
			`======================`

			`These plugins enable the use of the Gazebo physics simulator to model robots,`
			`and then use WPILIB programming libraries to control those simulated robots.`

			`At the present time, this only builds on Linux, and has a fairly complex`
			`installation process.`

			`You must have the gazebo development packages available on Linux.`
			`The gradle build system will automatically skip building this directory`
			`if those requirements are not met.`

			`This command:`

[build] Rename makeSim flag to forceGazebo to better describe what it does (#3535) 2021-09-05 17:40:54 -07:00			`./gradlew build -PforceGazebo`
Bring back the gazebo plugins (#1063) The models and meshes are not included. We will need to find an alternate way to reintegrate these and use them. * Add simulation/gz_msgs back, and build with Gradle. * Add back in the frc simulation plugins for gazebo. * Add a new shared library, halsim_gazebo. This library will become the interface between the HAL sim layer and gazebo. * Preserve the first channel number used in created Encoders in the Sim MockData. This allows us to use the DIO channel number to connect with simulated encoders. * Have the HAL Simulator set the reverse direction on creation. This enables a simulator to be aware of the direction. * Add a drive_motor plugin. This is a bit of a 'magic' motor, which allows us to build robot models that drive in a more realistic fashion. It does this by apply forces directly to the chassis, rather than relying on the complex motion dynamics of a driven wheel. This in turn allows the model to reduce wheel friction, reducing scrub, and allowing for a more natural driving experience. 2018-06-30 02:45:21 -05:00
			`will force it to attempt to build.`

			`TODO: The meshes for the models are large, and are not hosted in`
			`the main allwpilib repository. An alternate method of hosting`
			`and using is being built at the time of this commit. You must`
			`manually locate and copy the the models and world from that`
			`either into /usr/share/frcgazebo or into build/share/frcgazebo`
			`in order to use this facility.`

			`Once you have built it, then a command like this:`

			`simulation/frc_gazebo_plugins/build/bin/frcgazebo PacGoat2014.world`

			`should run the Gazebo simulation using our plugins against the`
			`2014 model, with the PacGoat robot on the field.`

			`The halsim_gazebo simulation library will provide a method for`
			`running robot code to control a simulated robot.`


			`TODO: Package the plugins more nicely, and then put instructions here.`

			`TODO: Build and package the plugins for Windows. The key there is to get gazebo`
			`working on Windows. This link was a useful trove of information on Windows/Gazebo`
			`issues as of September, 2017:`
			`https://bitbucket.org/osrf/gazebo/issues/2129/visual-studio-2015-compatibility`

			`Note that the sense remains that this will be difficult at best.`