Gazebo and others - modulabs/gazebo-tutorial GitHub Wiki

[Robot Simulators] Gazebo and others

Table Of Contents

로봇 시뮬레이터 구성 요소

  • Physics engine (Dynamics/Contact/Collision/etc,.)
  • Virtual Sensors
  • Interface
  • GUIs & Visualization

Gazebo Architecture

  • Server: Runs the physics loop and generates sensor data
    • Executable: gzserver
    • Libraries: Physics, Sensors, Rendering, Transport
  • Client: Provides user interaction and visualization of a simulation.
    • Executable: gzclient
    • Libraries: Transport, Rendering, GUI

Gazebo 물리엔진 구성 요소

Gazebo Features

  • Dynamics Simulation
    • Access multiple high-performance physics engines including ODE, Bullet, Simbody, and DART.
  • Advanced 3D Graphics
    • Utilizing OGRE, Gazebo provides realistic rendering of environments including high-quality lighting, shadows, and textures.
  • Sensors and Noise
    • Generate sensor data, optionally with noise, from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors, force-torque, and more.
  • Plugins
    • Develop custom plugins for robot, sensor, and environmental control. Plugins provide direct access to Gazebo's API.
  • Robot Models
    • Many robots are provided including PR2, Pioneer2 DX, iRobot Create, and TurtleBot. Or build your own using SDF.
  • TCP/IP Transport
    • Run simulation on remote servers, and interface to Gazebo through socket-based message passing using Google Protobufs.
  • Cloud Simulation
    • Use CloudSim to run Gazebo on Amazon AWS and GzWeb to interact with the simulation through a browser.
  • Command Line Tools
    • Extensive command line tools facilitate simulation introspection and control.

로봇 시뮬레이터 종류

  • ODE(Open Dynamics Engine) (2001~) <Sample_youtube>

  • Mujoco(Multi-Joint dynamics with Contact) (2012~) <Sample_youtube>

  • Gazebo [ODE with velocity-based LCP + Bullet Collision + ..] (2012~)

  • WeBot (1998~) <Sample_youtube>

  • iCub simulator <Sample_youtube>

  • RoboticsLab <Sample_youtube>

  • RecurDyn <Sample_youtube>

  • MSC. ADAMS <Sample_youtube>

  • etc.,

    Wiki) Simulator comparisons

    Software Software license Physics engine Platforms supported
    Gazebo Apache 2.0 ODE/Bullet/Simbody/DART Linux, macOS, Windows
    Webot Non-free based on ODE Linux, macOS, Windows
    V-Rep Proprietary/GNU GPL ODE/Bullet/Vortex/Newton Linux, macOS, Windows
    OpenRAVE GNU LGPL ODE/Bullet Linux, macOS, Windows
    OpenHRP Eclipse ODE/Internal Linux, Windows
    RoboticsLab Proprietary ODE/Bullet/etc Windows
    [TBD]

    [2014]Robot Simulators (Knowledge and past/present use of simulators)

    [2014]Robot Simulators (Current simulation tools be using)

    [2014]Robot Simulators (Most diffused tools for a selection of the research area)

    (참고) License 상세참고

    • GNU GPL(General Public License)
    • BSD (Berkeley Software Distribution) License
    • MIT License
    • Apache License
    • MPL (Mozilla Public License)
    • etc.,

접촉 모델

[Reference] (Springer book) Contact Force Models for Multibody Dynamics

  • LCP(Linear Complementary Problem) Method + Lemke's Algorithms [Rigid][Continuous Contact based] <== ODE, Mujoco, etc.,
  • Hertz Methtod [Elastic][Impact model & penalty based] <== MBD, FEM, etc.,
  • etc.,

Hertz model is an idealized model of material defoamtion and contact forces for spherical surfaces that is often applied as an explicit penalty force.
LCP attemps to resolve all contact forces simultaneously when collisions are detected.

마찰-모델

[TBD]

[Additional Readings]