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Learning ROS for Robotics Programming by Enrique Fernández, Aaron Martinez

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Simulation in ROS

In order to make simulations with our robots on ROS, we are going to use Gazebo.

Gazebo (http://gazebosim.org/) is a multirobot simulator for outdoor environments. It is capable of simulating a population of robots, sensors, and objects in a three-dimensional world. It generates both realistic sensor feedback and physically plausible interactions between objects.

In this section you will learn how to use the model created before, how to include a laser sensor, and how to move it as a real robot.

Using our URDF 3D model in Gazebo

We are going to use the model that we designed in the last section, but without the arm, to make it simple.

It is necessary to complete the URDF model because in order to use it in Gazebo we need to declare ...

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