Abstract
In this paper we present an interface to develop a communication between two different simulators: Gazebo, aiming at scene realism, and OpenModelica, focused on accurate dynamic simulation. This communication allows us to create a cooperative simulation loop, having a single shared simulated environment, and exploiting the best characteristics of each simulation.
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Notes
- 1.
Robot Operating System (ROS). http://www.ros.org.
- 2.
Open Dynamics Engine (ODE). http://www.ode.org.
- 3.
SDF format. http://sdformat.org.
- 4.
OpenModelica. https://openmodelica.org.
- 5.
Modelica. https://www.modelica.org.
References
Drumwright, E., Hsu, J., Koenig, N., Shell, D.: Extending open dynamics engine for robotics simulation. In: Balakirsky, S., Hemker, T., Reggiani, M., Stryk, O., Ando, N. (eds.) SIMPAR 2010. LNCS, vol. 6472, pp. 38–50. Springer, Heidelberg (2010)
Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 2149–2154, September 2004
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Bardaro, G., Bascetta, L., Casella, F., Matteucci, M. (2016). Advancement in Multi-body Physics Modeling for 3D Graphical Robot Simulators. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2016. Lecture Notes in Computer Science(), vol 9991. Springer, Cham. https://doi.org/10.1007/978-3-319-47605-6_15
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DOI: https://doi.org/10.1007/978-3-319-47605-6_15
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