Football Table Simulation Visualization Tool: Difference between revisions
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<b>Author: Rein Appeldoorn</b> | <b>Author: Rein Appeldoorn</b> | ||
==Gazebo== | ==Gazebo== | ||
<p>A simulator is developed to easily test new algorithms without depending on the actual robot. In has been developed using [http://gazebosim.org/ gazebo] (w/o the use of ROS), a so-called ''physics abstraction layer'', which employs [http://www.ode.org/ ODE] combined with [http://www.ogre3d.org/ OGRE] for rendering. The environment/robots are described in the [http://gazebosim.org/sdf/dev.html SDF] format, which in this case is combined with Collada (*.dae) renderings for more complex geometry. A previous attempt was created using [http://www.openrobots.org/wiki/morse MORSE], however this did not allow good tuning of the physics.</p> | <p>A simulator is developed to easily test new algorithms without depending on the actual robot. In has been developed using [http://gazebosim.org/ gazebo] (w/o the use of ROS), a so-called ''physics abstraction layer'', which employs [http://www.ode.org/ ODE] combined with [http://www.ogre3d.org/ OGRE] for rendering. The environment/robots are described in the [http://gazebosim.org/sdf/dev.html SDF] format, which in this case is combined with Collada (*.dae) renderings for more complex geometry. A previous attempt was created using [http://www.openrobots.org/wiki/morse MORSE], however this did not allow good tuning of the physics.</p> | ||
Revision as of 10:33, 10 September 2013
Author: Rein Appeldoorn
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*.