I want to use gazebo for my Third Year project. I plan to do some neural networks for robot control, and I need to be able to scale it for bigger number of robots. This means that I need to be able to control any robot with one framework.
I did a lot of research and I haven’t found any universal solution (I am quite surprised). All I found online was that I can control robot with one of these ways:
- Robot control plugin in C++ using SDF model
- ROS plugin using URDF model
But both solutions need modification for every robot I want to control. Or am I missing something?
I already started implementing my framework. I was thinking that I can use a plugin to load SDF model and get number of joints when loading, and then create a new message type that will send joint number and torque. This plugin will be wrapped in python for easy use (I am not really good with C++ and I want to develop neural networks in python).
I think that the gazebo comunity could benefit from this and it would make simulations more accessible to beginners. So I want to ask for any ideas/advices (or corrections if I am wrong). Let me know what do you think about it.