A Systematic Approach to Learning Robot Programming with ROS

CHAPTER 3

Simulation in ROS

CONTENTS

3.1 Simple two-dimensional robot simulator

3.2 Modeling for dynamic simulation

3.3 Unified robot description format

3.3.1 Kinematic model

3.3.2 Visual model

3.3.3 Dynamic model

3.3.4 Collision model

3.4 Introduction to Gazebo

3.5 Minimal joint controller

3.6 Using Gazebo plug-in for joint servo control

3.7 Building mobile-robot model

3.8 Simulating mobile-robot model

3.9 Combining robot models

3.10 Wrap-Up

INTRODUCTION

This chapter introduces simulation in ROS, starting with a simple two-dimensional mobile-robot simulator and extending to Gazebo–a powerful dynamic simulator. The Unified Robot Description Format (URDF) is introduced for modeling robots suitable for simulation in Gazebo. Controlling wheels ...