Understanding the Gazebo architecture and interface with ROS
As we discussed in the previous chapter, Gazebo is a simulation framework with a physics engine which is capable of simulating various sets of multi-robots for complex structured and unstructured environments. Moreover, it is capable of simulating several sensors and objects in a three-dimensional world. It also provides both realistic sensor feedback and physical interactions among objects and the environment.
Getting ready
However, Gazebo is independent of ROS and is available as a standalone package for Ubuntu. In this section, we will learn how to interface Gazebo and ROS. We will also discuss how to use 3D models developed in the previous section and include a laser sensor and a camera there. We will also discuss how to control and move the robot in a virtual environment.
We will use the mobile robot model developed in the previous section, although we will not include the arm robot to keep things simple. First of all, we have...
