Summary
We discussed three simulators in this chapter and learned how to create a simulation from a ROS URDF robot model.
This chapter delved into the significance of robotic simulation in robot development processes, which enables the validation and refinement of robot designs in a virtual environment. It highlighted the integration of ROS 2 and Gazebo Sim for creating advanced simulations using URDF models, leveraging plugins for physics, visualization, and control.
The architectural advantages of Gazebo Sim, such as modularity, extensibility, and seamless ROS 2 compatibility, were contrasted with Gazebo Classic, emphasizing the former’s suitability for scalable and modern robotics projects. After discussing the features, we saw how to implement multiple robot simulations in Gazebo. We also saw how to run the simulation using Docker.
Additionally, the chapter introduced Webots, with its built-in IDE and multi-language support, and NVIDIA Isaac Sim, offering photorealistic...