ROS1+Gazebo Platform

This platform can be selected via --platform=platform.ros1gazebo.

This is the platform on which SIERRA will run experiments using the Gazebo simulator and ROS1. It cannot be used to run experiments on real robots. To use this platform, you must setup the SIERRA ROSBridge.

Worlds within ROS1+Gazebo are infinite from the perspective of physics engines, even though a finite area shows up in rendering. So, to place robots randomly in the arena at the start of simulation across Experimental Runs (if you want to do that) “dimensions” for a given world must be specified as part of the --scenario argument. If you don’t specify dimensions as part of the --scenario argument, then you need to supply a list of valid robot positions via --robot-positions which SIERRA will choose from randomly for each robot.

• Batch Criteria
  • System Population Size
    • Cmdline Syntax
    • Examples

Environment Variables

This platform ignores SIERRA_ARCH.

Random Seeding For Reproducibility

ROS1+Gazebo do not provide a random number generator manager, but SIERRA provides random seeds to each Experimental Run which Project code should use to manage random number generation, if needed, to maximize reproducability. See Template Input Files and Experimental Definition Requirements for details on the format of the provided seed. By default SIERRA does not overwrite its generated random seeds for each experiment once generated; you can override with --no-preserve-seeds.