NDLI: The Rock-Gazebo Integration and a Real-Time AUV Simulation

Content Provider	IEEE Xplore Digital Library
Author	Watanabe, Thomio Neves, Gustavo Cerqueira, Romulo Trocoli, Tiago Reis, Marco Joyeux, Sylvain Albiez, Jan
Copyright Year	2015
Abstract	Simulation is an important step of a robotics project. It helps saving time and resources during the project development phase reducing hardware requirements and field tests deployments. Through simulations it is possible to test algorithms in virtually any environment. As complex robots are usually manged by robotics frameworks, a framework-simulator integration is a powerful tool, which allows design and verification of algorithms implemented straight into frameworks. The Gazebo simulator is already integrated with the Robot Operating System (ROS) endorsing its importance to the robotics community. This paper introduces the integration between the Gazebo simulator and the Robot Construction Kit (Rock) framework to allow a real-time simulation. To export simulation resources, framework components are instantiated and synchronized inside a Gazebo system plug in. Each component is a C++ class implemented separately from others classes. Through this approach new components can be easily integrated to extend the simulation capabilities. An Autonomous Underwater Vehicle (AUV) simulation is presented as a use case of the integration. This use case comprises fluid statics and dynamics simulation, thruster models and an underwater environment visualization.
Starting Page	132
Ending Page	138
File Size	616166
Page Count	7
File Format	PDF
ISBN	9781467371292
DOI	10.1109/LARS-SBR.2015.15
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2015-10-29
Publisher Place	Brazil
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Solid modeling Three-dimensional displays Simulation Gazebo Data visualization Robot Construction Kit (Rock) Rocks Autonomous Underwater Vehicle Libraries Data models Robots
Content Type	Text
Resource Type	Article

Sl.	Authority	Responsibilities	Communication Details
1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
2	Indian Institute of Technology Kharagpur	Host Institute of the Project: The host institute of the project is responsible for providing infrastructure support and hosting the project	https://www.iitkgp.ac.in
3	National Digital Library of India Office, Indian Institute of Technology Kharagpur	The administrative and infrastructural headquarters of the project	Dr. B. Sutradhar bsutra@ndl.gov.in
4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
5	Website/Portal (Helpdesk)	Queries regarding NDLI and its services	support@ndl.gov.in
6	Contents and Copyright Issues	Queries related to content curation and copyright issues	content@ndl.gov.in
7	National Digital Library of India Club (NDLI Club)	Queries related to NDLI Club formation, support, user awareness program, seminar/symposium, collaboration, social media, promotion, and outreach	clubsupport@ndl.gov.in
8	Digital Preservation Centre (DPC)	Assistance with digitizing and archiving copyright-free printed books	dpc@ndl.gov.in
9	IDR Setup or Support	Queries related to establishment and support of Institutional Digital Repository (IDR) and IDR workshops	idr@ndl.gov.in

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