Simulation of a Wheeled Robot using ROS

2023 2nd International Conference on Vision Towards Emerging Trends in Communication and Networking Technologies (ViTECoN) Pub Date : 2023-05-05 DOI:10.1109/ViTECoN58111.2023.10157323

Vishal Kasyap S, R. K., S. Uma, A. R, V. Thanikaiselvan, Hemalatha Mahalingam

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Abstract

Simulators are the tools used to study the behaviour of an entity, in this case, Wheeled Mobile Robots. These simulators played a significant role in robotics research as a tool for effectively testing algorithms, concepts and strategies. One such widely used simulator in the field of robotics is Gazebo. This paper overviews how a differential drive robot is simulated using Gazebo in a ROS environment. ROS is an open-source robot operating system. As ROS is open-source, many people have contributed to building robot software systems. These software systems can be used for various research and other requirements accordingly. Gazebo enables Simulation of the world, physical model, sensors and control system through the Unified Robot Description Format (URDF) file. ROS is interfaced with Gazebo to allow the implementation and usage of various robotic software systems and tools on the simulated Robot. In this paper, Localisation, Mapping and Path Planning algorithms are being implemented on the mobile Robot.

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基于ROS的轮式机器人仿真

模拟器是用来研究实体行为的工具，在这种情况下，轮式移动机器人。这些模拟器作为有效测试算法、概念和策略的工具，在机器人研究中发挥了重要作用。Gazebo是机器人领域中广泛使用的模拟器之一。本文概述了如何使用Gazebo在ROS环境中模拟差动驱动机器人。ROS是一个开源的机器人操作系统。由于ROS是开源的，许多人都为构建机器人软件系统做出了贡献。这些软件系统可用于各种研究和其他相应的需求。Gazebo通过统一机器人描述格式(URDF)文件实现对世界、物理模型、传感器和控制系统的模拟。ROS与Gazebo接口，允许在模拟机器人上实现和使用各种机器人软件系统和工具。在本文中，定位，映射和路径规划算法正在移动机器人上实现。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

2023 2nd International Conference on Vision Towards Emerging Trends in Communication and Networking Technologies (ViTECoN)

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