Enabling Codesharing in Rescue Simulation with USARSim/ROS
نویسندگان
چکیده
The Robot Operating System (ROS) has been steadily gaining popularity among robotics researchers as an open source framework for robot control. The Uni ed System for Automation and Robot Simulation (USARSim) has been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamlessly interface between ROS and USARSim. It provides for automatic con guration of ROS transforms and topics to allow for full utilization of the simulated hardware. The design of the new node as well as examples of its use for mobile robot inside the RoboCup Rescue Simulation League are presented.
منابع مشابه
Development of an Autonomous Rescue Robot Within the USARSim 3D Virtual Environment
The increasing interest towards rescue robotics and the complexity of typical rescue environments make it necessary to use high fidelity 3D simulators during the application development phase. USARSim is an open source high fidelity simulator for rescue environments, based on a commercial game engine. In this paper, we describe the development of an autonomous rescue robot within the USARSim si...
متن کاملA Realistic RoboCup Rescue Simulation Based on Gazebo
Since the first demonstration of the Virtual Robot Competition, USARSim has been used as the simulation interface and environment. The underlying simulation platform, Unreal Engine, has seen three major upgrades (UT2004, UT3 and UDK). These upgrades required a whole new USARSim simulator to be built from scratch. Yet, between those versions the USARSim interface has not been modified, which mad...
متن کاملSimulation of Small Humanoid Robots for Soccer Domain
In this paper, we illustrate the development of a realistic simulation of a humanoid robot model in a virtual environment using USARSim (Urban Search and Rescue Simulator). USARSim provides an accurate 3D simulation of a virtual environment with a detailed rendering and a realistic physics. Moreover, USARSim allows users to observe the virtual environment from different views. One of these is t...
متن کاملUsarsim/ros: a Combined Framework for Robotic Control and Simulation
The Robot Operating System (ROS) is steadily gaining popularity among robotics researchers as an open source framework for robot control. Additionally, the Unified System for Automation and Robot Simulation (USARSim) has already been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamless...
متن کاملDevice Level Simulation of Kurt3D Rescue Robots
USARSIM is a worldwide used robot simulator deployed in Urban Search and Rescue (USAR) and in the context of the RoboCup Rescue Real Robot contest. This paper describes the USARSIM simulator for KURT2 and Kurt3D robot platforms, which we are using in both education and research. As it simulates on the device level, a seamless integration of real robot control software with the simulations becom...
متن کاملذخیره در منابع من
با ذخیره ی این منبع در منابع من، دسترسی به آن را برای استفاده های بعدی آسان تر کنید
عنوان ژورنال:
دوره شماره
صفحات -
تاریخ انتشار 2013