Football Table Simulation Visualization Tool: Difference between revisions
| Line 15: | Line 15: | ||
<li>[http://cstwiki.wtb.tue.nl/images/MORSE_installation_guide.pdf MORSE Installation Guide with Yarp support - Ubuntu 10.04 LTS x86]</li> | <li>[http://cstwiki.wtb.tue.nl/images/MORSE_installation_guide.pdf MORSE Installation Guide with Yarp support - Ubuntu 10.04 LTS x86]</li> | ||
</ul> | </ul> | ||
Revision as of 10:32, 10 September 2013
Author: Rein Appeldoorn
Information
Gazebo
A simulator is developed to easily test new algorithms without depending on the actual robot. In has been developed using gazebo (w/o the use of ROS), a so-called physics abstraction layer, which employs ODE combined with OGRE for rendering. The environment/robots are described in the SDF format, which in this case is combined with Collada (*.dae) renderings for more complex geometry. A previous attempt was created using MORSE, however this did not allow good tuning of the physics.
Inter-process Communication
This simulation communicates with Matlab Simulink using Interprocess Communication (IPC) wrapper library for the POSIX libraries. This library uses mutexes and condition variables enabling a thread-safe, synchronized, causal communication between two processes e.g. Gazebo and Simulink. This allows us to use the Gazebo simulator as a plant in our simulink control loop. More on this library and how it is used, can be found here *EDIT*.