Lecture Slides

W4L1 - Lecture 7 - Gazebo.pdf

Simulation

• A virtual environment that allows:
  • Development
  • Trial-and-error
  • Quick Reset
• Key requirements:
  • Physics Engine
  • Control Interface
• Common Features
  • Sensor Plugins
  • Rendering Engine (for visual sensors)
  • Flexibility (must be programmable)

The key distinction between simulation and visualization is the dynamic, interactive component. Relying solely on rosbags is not feasible since they cannot generate new data.

<aside> 🧠

Can synthetic data be generated for rosbags?

</aside>

Benefits of Simulation

Simulations help avoid time-consuming tasks:

• Eliminates repetitive actions:
  • Resetting equipment
  • Repositioning robots
  • Recharging batteries

Simulations provide key advantages:

• Safety
  • Safe testing environment for dangerous robots (self-driving cars, industrial robots)
• Cost-effectiveness
  • Prevents expensive hardware damage
  • Reduces equipment wear and tear
• Development benefits
  • Faster debugging process
  • Perfect for learning (like TurtleSim)
  • Enables rapid iteration

Some Simulation TOols

https://github.com/google-deepmind/lab

https://github.com/google-deepmind/mujoco

https://github.com/lgsvl/simulator

Gazebo