Alexandra Dobrokvashina, Roman Lavrenov, Yang Bai, M. Svinin, E. Magid
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Sensors modelling for Servosila Engineer crawler robot in Webots simulator
Simulations became a convenient, easy and safe way to interact with a robot in a virtual world in order to reproduce complex tasks and environments, preliminary evaluate new concepts and algorithms instead of directly building complicated testing field constructions in real world. Yet, a simulation requires an adequate model of a robot that corresponds well to its hardware original. This paper presents an improved Webots simulation model of the Russian crawler-type robot Servosila Engineer. We extended a previously constructed model with sensors of the real robot and added connection to the Robot Operating System (ROS), while ROS/Webots connection was also improved for a greater convenience.
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