Concepts of Gazebo Simulation

Gazebo is a powerful simulation tool that allows for the creation of robot populations in diverse indoor and outdoor environments. Developed in 2002 at the University of Southern California and currently maintained by the Open Source Robotics Foundation, Gazebo offers a range of features and components for simulating complex scenarios efficiently.

• Simulation
• Robotics
• Gazebo
• Indoor Environments
• Outdoor Environments

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Presentation Transcript

1. Concepts of Gazebo and its Implementation EPBL-5 April 26th, 2019 Hitomi Ohmae

2. What is Gazebo Gazebo offers the ability to simulate populations of robots in complex indoor and outdoor environments. Gazebo development began in 2002 at the University of Southern California. Open Source Robotics Foundation (OSRF) is developing Gazebo now.

3. Features

4. Gazebo Components World Files Contains all the elements in a simulation Formatted using SDF (Simulation Description Format) .world extension Gazebo server (gzserver) reads this file to generate and populate a world Model Files Gazebo Server Graphical Client Plugins

6. Gazebo Components World Files Model Files SDF format Only contain a single <model> ... </model> Facilitate model reuse, and simplify world files. Gazebo Server Graphical Client Plugins

8. Gazebo Components World Files Model Files Gazebo Server The workhorse of Gazebo Parses and simulates a world description file given on the command line Graphical Client Plugins

9. Gazebo Components World Files Model Files Gazebo Server Graphical Client Connects to a running gzserver Visualizes the elements Plugins

10. Gazebo Components World Files Model Files Gazebo Server Graphical Client Plugins Chunk of code that is compiled as a shared library and inserted into the simulation Loaded on the command line, or specified in an SDF file 6 types of plugins; World, Model, Sensor, System, Visual, GUI

11. Architecture gzserver Simulation World SDF Load model model Message gzclient (GUI) Plugin Plugin

12. ROS communication Gazebo provides a set of ROS API's First step to launch is;

13. Architecture with ROS Package Package Topic Topic Message ROS node Message

14. Reference Gazebo official website http://gazebosim.org/#features Relationship between Gazebo and ROS http://gazebosim.org/tutorials/?tut=ros_control SDF description http://sdformat.org World file description https://qiita.com/srs/items/9b23ad12bea9e3ec0480 (Japanese) Model file description http://gazebosim.org/tutorials?tut=build_model