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feature comparison page for Harmonic
Signed-off-by: Mabel Zhang <[email protected]>
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| # Feature comparison | ||
|
|
||
| A list of features present in [Gazebo-classic](https://github.com/osrf/gazebo/) | ||
| version 11 and the status of their migration to | ||
| [Gazebo Garden](https://gazebosim.org/). | ||
|
|
||
| All the issues below are labeled with | ||
| [close the gap](https://github.com/search?q=org%3Agazebosim+label%3A%22close+the+gap%22&type=Issues) | ||
| on GitHub. | ||
|
|
||
| ## Sensors | ||
|
|
||
| Sensor | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| Air pressure | ✕ | ✓ | ||
| Altimeter | ✓ | ✓ | ||
| Bounding Box camera | ✕ | ✓ | ||
| Camera | ✓ | ✓ | ||
| Contact sensor | ✓ | ✓ | ||
| Depth camera | ✓ | ✓ | ||
| Doppler Velocity Log (DVL) | ✕ | ✓ | ||
| Force-torque | ✓ | ✓ | ||
| GPS / NavSat | ✓ | ✓ | ||
| GPU Ray | ✓ | ✓ Renamed to GPU Lidar | ||
| IMU | ✓ | ✓ | ||
| Logical audio sensor | ✕ | ✓ | ||
| Logical camera | ✓ | ✓ | ||
| Magnetometer | ✓ | ✓ | ||
| Multi-camera | ✓ | ✕ Use individual cameras with same update rate | ||
| Optical tactile sensor | ✕ | ✓ | ||
| Ray | ✓ | [Issue](https://github.com/gazebosim/gz-sensors/issues/26) | ||
| RFID sensor and tag | ✓ | [Issue](https://github.com/gazebosim/gz-sensors/issues/27) | ||
| RGBD camera | ✕ | ✓ | ||
| Segmentation camera | ✕ | ✓ | ||
| Sonar | ✓ | [Issue](https://github.com/gazebosim/gz-sensors/issues/19) | ||
| Thermal camera | ✕ | ✓ | ||
| Triggered camera | ✕ | ✓ | ||
| Wide-angle camera | ✓ | ✓ | ||
| Wireless | ✓ | [Issue](https://github.com/gazebosim/gz-sensors/issues/28) | ||
|
|
||
| Sensor features | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| Custom update rate | ✓ | ✓ | ||
| Gaussian noise | ✓ | ✓ | ||
| Custom sensors | ✓ | ✓ | ||
| Laser retroreflection | ✓ | ✓ | ||
| Camera distortion | ✓ | ✓ | ||
| Performance metrics | ✓ | ✓ | ||
|
|
||
| ## SDF Features | ||
|
|
||
| Feature | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| SDF frame semantics |✓| ✓ | ||
| SDF parametrization | ✕ | [✓](http://sdformat.org/tutorials?tut=param_passing_proposal) | ||
| Load models from local files | ✓ | [✓](https://gazebosim.org/api/gazebo/6.6/resources.html) | ||
| Closed kinematic chains | ✓ | [Issue](https://github.com/gazebosim/gz-physics/issues/25) | ||
| Nested models | ✓ | ✓ | ||
| Populations | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/240) | ||
| Actors | ✓ | ✓ | ||
| Markers | ✓ | ✓ | ||
| Heightmaps | ✓ | ✓ | ||
| DEM (Digital Elevation Models) | ✓ | ✓ | ||
| Polylines | ✓ | ✓ | ||
| World plugins | ✓ | ✓ Now called System plugin | ||
| Model plugins | ✓ | ✓ Now called System plugin | ||
| Sensor plugins | ✓ | ✓ Now called System plugin | ||
| Visual plugins | ✓ | ✓ | ||
| GUI plugins | ✓ | ✓ Gazebo GUI plugins and Gazebo GUI systems | ||
| System plugins | ✓ | ✓ Through Gazebo Launch | ||
| SDF python bindings | x | ✓ | In sdformat13 | ||
| SDF <-> Mujoco MJCF | x | ✓ | In sdformat13, [documentation](https://github.com/gazebosim/gz-mujoco/blob/main/sdformat_mjcf/README.md) | ||
|
|
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| ## Plugins | ||
|
|
||
| ### Model plugins | ||
|
|
||
| Plugin | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| AckermannSteering | ✕ | ✓ | ||
| ActorPlugin | ✓ | ✕ See [FollowActor](https://github.com/gazebosim/gz-sim/blob/main/src/systems/follow_actor/FollowActor.hh) for a demo of Actor APIs | ||
| ActuatorPlugin | ✓ | | ||
| ArduCopterPlugin | ✓ | | ||
| AttachLightPlugin | ✓ | ✕ Does not apply, use SDF | ||
| Breadcrumbs | ✕ | ✓ | ||
| BuoyancyPlugin | ✓ | [✓](https://github.com/gazebosim/gz-sim/blob/ign-gazebo6/examples/worlds/buoyancy.sdf) | ||
| CartDemoPlugin | ✓ | ✕ | ||
| CessnaPlugin | ✓ | ✕ | ||
| DetachableJoint | ✕ | ✓ | ||
| DiffDrivePlugin | ✓ | ✓ | ||
| ElevatorPlugin | ✓ | ✓ | ||
| FlashLightPlugin | ✓ | | ||
| FollowerPlugin | ✓ | | ||
| GimbalSmall2dPlugin | ✓ | | ||
| GravityCompensationPlugin | ✓ | | ||
| HarnessPlugin | ✓ | | ||
| HydraDemoPlugin | ✓ | | ||
| InitialVelocityPlugin | ✓ | ✓ (use VelocityControl or JointController) | ||
| JointControlPlugin | ✓ (force / pos / vel, from SDF) | ✓ (vel, from msg) | ||
| JointStatePublisher | ✕ | ✓ | ||
| JointTrajectoryPlugin | ✓ | ✓ | ||
| KeysToCmdVelPlugin | ✓ | Use `gz::gui::KeyPublisher` with `gz::gazebo::systems::TriggeredPublisher` | ||
| KeysToJointsPlugin | ✓ | Use `gz::gui::KeyPublisher` with `gz::gazebo::systems::TriggeredPublisher` | ||
| LedPlugin | ✓ | | ||
| LiftDragPlugin | ✓ | ✓ | ||
| LinearBatteryConsumerPlugin | ✓ | ✓ | ||
| LinearBatteryPlugin | ✓ | ✓ | ||
| LinkPlot3DPlugin | ✓ | ✓ (renamed to Plot3D) | ||
| MecanumDrive | ✕ | ✓ | ||
| MudPlugin | ✓ | | ||
| MulticopterMotorModel | ✕ | ✓ | ||
| OdometryPublisherPlugin | ✕ | ✓ | ||
| PlaneDemoPlugin | ✓ | | ||
| PosePublisher | ✕ | ✓ | ||
| RandomVelocityPlugin | ✓ | | ||
| RegionEventBoxPlugin | ✓ | | ||
| SimpleTrackedVehiclePlugin | ✓ | ✓ | ||
| SkidSteerDrivePlugin | ✓ | ✓ | ||
| SphereAtlasDemoPlugin | ✓ | ✕ | ||
| TouchPlugin | ✓ | ✓ | ||
| TrackedVehiclePlugin | ✓ | ✓ | ||
| VariableGearboxPlugin | ✓ | | ||
| VehiclePlugin | ✓ | | ||
| WheelSlipPlugin | ✓ | ✓ | ||
| WheelTrackedVehiclePlugin | ✓ | ✓ | ||
| KineticEnergyMonitor | ✕ | ✓ | ||
| Buoyancy engine | ✕ | ✓ | ||
|
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||
| ### World plugins | ||
|
|
||
| Plugin | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| ArrangePlugin | ✓ | | ||
| ContainPlugin | ✓ | Partial port, [Issue](https://github.com/gazebosim/gz-sim/issues/162) | ||
| HydraPlugin | ✓ | | ||
| JoyPlugin | ✓ | ✓ Migrated as an Gazebo Launch plugin | ||
| MisalignmentPlugin | ✓ | | ||
| RubblePlugin | ✓ | | ||
| StaticMapPlugin | ✓ | | ||
| TransporterPlugin | ✓ | | ||
| WindPlugin | ✓ | ✓ | ||
|
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| ### Sensor plugins | ||
|
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| Plugin | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| BreakableJointPlugin | ✓ | | ||
| CameraPlugin | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/49) | ||
| ContactPlugin | ✓ | ✓ | ||
| DepthCameraPlugin | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/49) | ||
| FiducialCameraPlugin | ✓ | | ||
| ForceTorquePlugin | ✓ | ✓ | ||
| GpuRayPlugin | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/49) | ||
| ImuSensorPlugin | ✓ | ✓ | ||
| LensFlareSensorPlugin | ✓ | | ||
| MagnetometerPlugin | ✕ | ✓ | ||
| OpticalTactilePlugin | ✕ | ✓ | ||
| PressurePlugin | ✓ | | ||
| RayPlugin | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/49) | ||
| RaySensorNoisePlugin | ✓ | ✕ Use SDF | ||
| SonarPlugin | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/49) | ||
|
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| ### Visual plugins | ||
|
|
||
| Plugin | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| AmbientOcclusionVisualPlugin | ✓ | | ||
| BlinkVisualPlugin | ✓ | | ||
| HeightmapLODPlugin | ✓ | | ||
| ShaderParamVisualPlugin | ✓ | ✓ | ||
|
|
||
| ### GUI plugins | ||
|
|
||
| Plugin | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| CessnaGUIPlugin | ✓ | | ||
| KeyboardGUIPlugin | ✓ | `gz::gui::KeyPublisher` | ||
| LookAtDemoPlugin | ✓ | | ||
| TimerGUIPlugin | ✓ | | ||
|
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| ### System plugins | ||
|
|
||
| Plugin | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| ColladaWorldExporter | ✕ | ✓ | ||
| ModelPropShop | ✓ | [✓](https://gazebosim.org/api/gazebo/5.4/model_photo_shoot.html) | ||
| RestUiPlugin | ✓ | | ||
| RestWebPlugin | ✓ | | ||
| StopWorldPlugin | ✓ | | ||
|
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| ## GUI | ||
|
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||
| Feature | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| Play / pause / step | ✓ | ✓ | ||
| Reset world / models | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/203) | ||
| World stats | ✓ | ✓ | ||
| Topic echo | ✓ | ✓ | ||
| Image viewer | ✓ | ✓ | ||
| Translate / rotate | ✓ | ✓ | ||
| Scale models | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/195) | ||
| Insert models from Fuel | Partial support | ✓ | ||
| Insert models from disk | ✓ | ✓ | ||
| Insert simple shapes | ✓ | ✓ | ||
| Insert simple lights | ✓ | ✓ | ||
| Delete models | ✓ | ✓ | ||
| World tree | ✓ | ✓ | ||
| Scene properties | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/246) | ||
| Log recording / playback | ✓ | ✓ | ||
| Plotting | ✓ | ✓ | ||
| Video recording | ✓ | ✓ | ||
| Screenshot | ✓ | [✓](https://gazebosim.org/api/gui/3.5/screenshot.html) | ||
| View angles | ✓ | ✓ | ||
| Apply force / torque | ✓ | | ||
| Visualize as transparent | ✓ | ✓ | ||
| Visualize as wireframe | ✓ | ✓ | ||
| Visualize joints | ✓ | ✓ | ||
| Visualize collisions | ✓ | ✓ | ||
| Visualize inertia | ✓ | ✓ | ||
| Visualize CoM | ✓ | ✓ | ||
| Visualize contacts | ✓ | ✓ | ||
| Visualize lights | ✓ | ✓ | ||
| Follow / move to | ✓ | ✓ | ||
| Copy / paste | ✓ | ✓ | ||
| Building editor | ✓ | | ||
| Model editor | ✓ | [Issues](https://github.com/gazebosim/gz-sim/issues?q=is%3Aissue+is%3Aopen+label%3Aeditor) | ||
| FPS view control | ✓ | | ||
| Orthographic projection | ✓ | ✓ | ||
| Undo / redo | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/104) | ||
| Save world | ✓ | ✓ | ||
| Save GUI configuration | ✓ | ✓ | ||
| Color scheme and themes | ✕ | ✓ | ||
| Position, resize and configure widgets | ✕ | ✓ | ||
| Load GUI plugins from menu | ✕ | ✓ | ||
| Edit model pose | ✓ | ✓ | ||
| Edit light properties | ✓ | ✓ | ||
| Edit physics properties | ✓ | ✓ | ||
|
|
||
| ## Physics | ||
|
|
||
| In Gazebo Physics, physics engines are integrated as plugins, so any engine | ||
| can be integrated without changing the core source code, as it was the case | ||
| in Gazebo. | ||
|
|
||
| Feature | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| ODE engine | ✓ | [Issue](https://github.com/gazebosim/gz-physics/issues/63) | ||
| Bullet engine | ✓ | ✓ | ||
| DART engine | ✓ | ✓ Plugin shipped with gz-physics | ||
| Simbody engine | ✓ | [Issue](https://github.com/gazebosim/gz-physics/issues/63) | ||
| TPE engine | ✕ | ✓ | ||
| Custom engine plugins | ✕ | ✓ | ||
| Collide bitmasks | ✓ | ✓ | ||
| Restitution coefficient | ✓ | ✓ | ||
| Collision detector | ✓ | ✓ | ||
| Solver | ✓ | ✓ | ||
|
|
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| ## Rendering | ||
|
|
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| In Gazebo Rendering, render engines are integrated as plugins, so any engine | ||
| can be integrated without changing the core source code. | ||
|
|
||
| Feature | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| Ogre 1.x engine | ✓ | ✓ | ||
| Ogre 2.x engine | ✕ | ✓ | ||
| Optix engine | ✕ | ✓ Partial support | ||
| Custom engine plugins | ✕ | [✓](https://gazebosim.org/api/rendering/5.0/renderingplugin.html) | ||
| Sky | ✓ | ✓ | ||
| Fog | ✓ | | ||
| Material scripts | ✓ (Ogre 1.x scripts) | Does not apply | ||
| Physically Based Rendering (PBR) | ✕ | ✓ (with engines that support it, like Ogre 2) | ||
| Normal maps | ✓ | ✓ | ||
| Environment maps | ✕ | ✓ | ||
| Lightmaps | ✕ | ✓ | ||
| Particle effects | ✕ | ✓ | ||
| Render order | ✕ | ✓ | ||
| Projector | ✕ | ([ogre 1.x only](https://github.com/gazebosim/gz-sim/pull/1979)) | ||
|
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| ## ROS integration | ||
|
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| ROS integration through the | ||
| [ros_gz](https://github.com/gazebosim/ros_gz) packages. | ||
|
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| Supported versions: | ||
|
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| * ROS 1 Noetic (from source) | ||
| * ROS 2 Humble (from source) / Rolling (from source) | ||
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| Note: binaries for ROS2 might be available sometime after the Garden release. | ||
|
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| For **ROS 2 Rolling**, the Rolling distribution moves with the next future release | ||
| of ROS 2 defined in [REP-2000](https://www.ros.org/reps/rep-2000.html). For the Gz | ||
| Garden release this means that it will be adopted when ROS 2 Iron goes into the | ||
| [REP-2000](https://www.ros.org/reps/rep-2000.html). | ||
|
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| ## Platforms | ||
|
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| Platform | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| Ubuntu | ✓ | ✓ | ||
| OSX | ✓ | Most of the stack works, outstanding issues: [command line](https://github.com/gazebosim/gz-sim/issues/25), [render window](https://github.com/gazebosim/gz-sim/issues/44) | ||
| Windows | ✓ | All libraries compile, low-level libraries function well: [Issue](https://github.com/gazebosim/gz-sim/issues/168) | ||
|
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| ## Others | ||
|
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| Feature | Gazebo-classic | Gazebo Sim | ||
| -- | -- | -- | ||
| Nested models | ✓ | ✓ | ||
| Log / playback | ✓ | ✓ | ||
| Web client (GzWeb) | ✓ | | ||
| COLLADA meshes | ✓ | ✓ | ||
| OBJ meshes | ✓ | ✓ | ||
| STL meshes | ✓ | ✓ | ||
| USD meshes | ✕ | [✓](https://github.com/gazebosim/sdformat/tree/sdf12/examples/usdConverter) | ||
| Code introspection | ✓ | All simulation state is accessible from system plugins or through the `SceneBroadcaster`'s state topic | ||
| Distribute simulation across processes | ✕ | (coming up) | ||
| Incrementally load levels | ✕ | ✓ | ||
| Online model database | [gazebo_models repository](https://github.com/osrf/gazebo_models/) | [Gazebo Fuel](https://app.gazebosim.org/fuel/models) | ||
| Saved simulation states | ✓ | [Issue](https://github.com/gazebosim/gz-sim/issues/137) | ||
| Sphere, cylinder and box primitives | ✓ | ✓ | ||
| Ellipsoid and capsule primitives | ✕ | ✓ | ||
| Hydrodynamics | ✕ | ✓ | ||
| Ocean currents | ✕ | ✓ | ||
| Test fixture | ✓ | [✓](https://gazebosim.org/api/gazebo/6.6/test_fixture.html) | ||
| Spherical coordinates | ✓ | ✓ | ||
| Generic comms system | ✕ | [✓](https://github.com/gazebosim/gz-sim/blob/ign-gazebo6/examples/worlds/perfect_comms.sdf) | ||
| Acoustic communication | ✕ | ✓ | ||
| Static linked plugins | ✕ | ✓ |