Motion Planning/Meetings

Kickoff Meeting Minutes (09/27/2011)

• Scenes for Planning/ Simulation
  • Gazebo Scene Description Format (SDF)
    • open format, work in progress
    • xml
    • scene editing
  • Collada
    • no standard parser
    • Nate wrote his own (for Gazebo)
    • does not represent sensors - e.g. lasers, contact sensors
  • Assimp
    • issues with loading meshes
    • Nate does not use it any more (for Gazebo)
  • Try to use scene descriptions for Gazebo and also use them for motion planning scenes
• Robot representation
  • URDF is a format that the ROS community will continue to use (and support)