Hello, I know that there is a plenty of treads about this subjects but none of them really answered my doubts. But first, a little contextualization.
I am using ROS a while and currently I consider myself an intermediate ROS user. Recently I joint a project where I will be developing and implementing algorithms for an autonomous airship. In the scope of the project, there is not an airship simulator integrated with ROS and since it would be a value tool to have I decided to develop one via GAZEBO. In GAZEBO I consider myself a beginner.
For now I studying a lot of documentations and tutorials and so I am feeling somewhat drowned by all this new information. So I decided to open this thread as an way to consult some expert in ROS and GAZEBO. Here goes what I want and my questions:
- A want to develop o model of a balloon (let, for now, forget about airship) which I can simulate via GAZEBO and I can
interact via ROS. With GAZEBO I expect to use all, or most of all, its simulations tools. In special I want to be able to use the plugins Aerodynamics and Hydrodynamics. With ROS I expect to send control commands to the model and receive sensors information from it
> My question is, since for me appears that everything comes from this, the robot model should be build upon the **SDF** or **URDF** format to I be able to achieve the detailed functionalities? Because, from what I read, if I use SDF I easily will be able to use the GAZEBO tools and plugins but, in the other hand, I will have difficult to interact with it via ROS. If I use URDF I will be able to interact with it via ROS but I may face some issues with GAZEBO or its plugins. So, what should I work with?
I know that this thread seems a little broad, but I just want an orientation to where to start. For example, If in a few days I make a square floats in GAZEBO that I can move it via ROS it will be a great achievement!
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