September 2017
Intermediate to advanced
530 pages
15h 8m
English
Content preview from A Systematic Approach to Learning Robot Programming with ROS
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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
3.6 Using Gazebo plug-in for joint servo control
3.7 Building mobile-robot model
3.8 Simulating mobile-robot model
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 ...
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