wg_robots_gazebo: gazebo_benchmarks | icra_navigation_gazebo | pr2_2dnav_gazebo | pr2_arm_gazebo | pr2_bringup_gazebo_demo | pr2_build_map_gazebo_demo | pr2_doors_gazebo_demo | pr2_gazebo_wg | pr2_kinect_test_description | pr2_laban_gazebo_demo | pr2_pickup_object_demo | pr2_plugs_gazebo_demo | pr2_simulator_benchmarks | pr2_sr_hand_gazebo_demo | pr2_sushi_sim | pr2_tabletop_manipulation_gazebo_demo | ros_epic_fail | texas_gazebo

Package Summary

Package for basic physics tests

• Author: John Hsu
• License: BSD
• Repository: wg-ros-pkg
• Source: svn https://code.ros.org/svn/wg-ros-pkg/stacks/wg_robots_gazebo/trunk/gazebo_benchmarks

Running CUDA Demos

CUDA Device Driver

You can do a system install of the CUDA device drivers for your graphics card. This step is currently manual, pending work from cuda package. Not to worry if the CUDA device drivers are not installed, parallel_quickstep by default compiles and runs off the CPU.

If your CUDA does not support doubles operations, you have to disable doubles in ODE before compiling.

C-Turtle Installation Instructions

Install ROS C-Turtle by following instructions here and be sure to install the PR2 All variant.

Make sure you have rosinstall installed and working. Save the rosinstall file in your home directory as simulator_overlay.rosinstall. Next, type

rosinstall  ~/simulator_overlay /opt/ros/cturtle ~/simulator_overlay.rosinstall

to install in the ~/simulator_overlay directory.

Setup the ROS environment variables for your new overlay:

source ~/simulator_overlay/setup.sh

you might want to append the above line to your .bashrc for convenience.

Disabling Doubles

For CUDA devices that do not support doubles operations (compute capability version less than 1.3), compile ODE using floats,

roscd opende
vi Makefile.opende.tarball

remove --enable-double-precision in CFG_OPTIONS.

Compile

To compile, type

rosmake gazebo_benchmarks

Running Benchmark Demos

Try:

roslaunch gazebo_benchmarks box_stack_block_cuda.launch