I working on a simulation of train using Gazebo. The idea is to import a track from openstreetmap (or openrailwaymap) and create and load the needed models dynamically. In other words I planning to create the railway from waypoints (x y z roll pitch) and place objects around the railway like houses, bridges, signs, etc… Also the surface should be roughly created. It is not important to have a photo realistic simulation. At least I will mount some sensors in front of the train to be able to test assistant systems, up to a autonomous train.
So my questions to the community are now:
- How big a world can be? Is the memory the only limitation or is/are there more. For example will the FPS drops if the world is to big?
- My basic approach is to spawn objects in front of the train (~700m in front of) and delete the objects behind the train. Do I run in trouble? Can I use dynamically spawning or is it better to load all objects at the begin?
- I not sure about if I should simulate the railway itself or just move the train (without physics, static object). What do you think? I guess to simulate a normal train driving on a railway will end up in some problems. At least I need swinging and bumping train for the sensor quality. I think it is possible to apply forces to the sensor without do it to the whole train. Of course then the sensors and the train would be different objects.
What do you think about the planned simulation? Is Gazebo the right tool? I’d appreciate your view!