Gazebo simulator

Gazebo simulator

Simulation in ROS

Published in Wyatt S. Newman, A Systematic Approach to Learning Robot Programming with ROS, 2017

Our one-DOF minimal robot URDF now contains kinematic, inertial, visual and collision information. We next introduce the Gazebo simulator, which can perform dynamic simulations of robots based on URDF specifications.

Leader–follower cooperative swinging by UAVs without interagent communication

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Journal Information

Published in International Journal of Control, 2022

Cheng-Cheng Yang, Teng-Hu Cheng

Simulations were performed using the Gazebo simulator in the ROS framework. The payload was a cuboid of length 1.5 m with a mass of kg, while the multicopter had a mass of kg. The payload was suspended beneath the leader and the follower from its two ends by two cables, and the control objective was to cooperatively swing the payload to an angle of In the system, only the leader knows the desired energy of the payload (i.e., based on the maximum swing angle), with the follower not having this knowledge and not being able to communicate with the leader. The configuration of the payload and the multicopters is shown in Figure 5.

Navigation system with SLAM-based trajectory topological map and reinforcement learning-based local planner

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Journal Information

Published in Advanced Robotics, 2021

Wuyang Xue, Peilin Liu, Ruihang Miao, Zheng Gong, Fei Wen, Rendong Ying

We perform simulation experiments in Gazebo simulator in robot operating system. Simulation environments for training and testing the local planner are shown in Figure 12(a). An AGV equipped with a laser scanner is running in the simulator. All training parameters are in Table 1. All algorithms are run on a computer with an Intel i7 8700 CPU.

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Simulation in ROS

Leader–follower cooperative swinging by UAVs without interagent communication

Navigation system with SLAM-based trajectory topological map and reinforcement learning-based local planner