Simulation Components in Gazebo
| Autor: | Ronal Bejarano, Joseph La Delfa, Jan Olaf Blech, Ian Peake |
|---|---|
| Přispěvatelé: | RMIT University, Department of Electrical Engineering and Automation, Information Technologies in Industrial Automation, Aalto-yliopisto, Aalto University |
| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
Computer science
business.industry media_common.quotation_subject Fidelity 020206 networking & telecommunications Robotics Control engineering 02 engineering and technology Structuring Drone Composability 0202 electrical engineering electronic engineering information engineering Robot 020201 artificial intelligence & image processing Artificial intelligence Robot operating system business Robotic arm media_common |
| Zdroj: | ICIT |
| Popis: | Publisher Copyright: © 2021 IEEE. We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases. |
| Databáze: | OpenAIRE |
| Externí odkaz: |
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