Gazebo - A dynamic multi-robot simulator
---------------------------------------- 

This is the Gazebo simulator.  Gazebo simulates multiple robots in a
3D environment, with extensive dynamic interaction between objects. 

  http://gazebosim.org

Installation
------------
Instructions are located at

  http://gazebosim.org/documentation.html

Gazebo cmake parameters available at configuring time:
 - USE_LOW_MEMORY_TEST (bool) [default False]
   Use reduced version of tests which need less quantity of RAM memory
   available.
 - FORCE_GRAPHIC_TESTS_COMPILATION (bool) [default False]
   Ignore system checks to look for graphic and acceleration support and
   compile all the test suite.
 - ENABLE_TESTS_COMPILATION (bool) [default True]
   Enabled or disable the test suite compilation. 
 - ENABLE_SCREEN_TESTS (bool) [default True]
   Enable or disable tests that need screen rendering to run properly.
   Headless machines or machines with the screen turned off should set this to
   False 

Uninstallation
--------------
Read the installation instructions (http://gazebosim.org/documentation.html) in the online manual for generic instructions.  For most people, the following sequence will suffice:

  $ make uninstall (inside the gazebo-trunk/build directory)


- Nate Koenig

Additional changes made by Arun:
--------------------------------
1) fsaa = 0 setting (had to change texture adding code in Camera.cc where fsaa was set to 4 before loading). 
   This removed anti-aliasing effects from the color image. Depth image had not anti-aliasing by default
2) PR: for contact sensors when deleting and adding back models
   https://bitbucket.org/osrf/gazebo/pull-requests/1413/allow-multiple-contact-sensors-per-link/diff
3) Also made changes to ContactManager.cc, .hh to add removeFilters function which was not present 
   - used gazebo5 code for this
4) Above two fixes did not fix all the problems - so made this addtional change: 
   https://bitbucket.org/ElteHupkes/gazebo/commits/9649107ad71811ea38b96db647b8150defc5e4a9 for 
   fixing removeFilter so that things work ok now.