2012 · 34 citations · 5 references
EngineeringComputer ScienceRobotics EngineeringMobile RoboticsRobot ControlRoboticsMobile Robot ControlMobile Robot Platform DesignRobot Control ArchitectureRobot Operating SystemsRobotics AutomationSystem SimulationAutomatic ConfigurationRobot Control SystemsRobot SimulationRobotics SimulationRos ArchitectureSoftware Architecture For Robotics
ROS is an increasingly popular open‑source framework for robot control, while USARSim has long served as a validated simulation platform for robotics research. The paper introduces a ROS node that seamlessly connects ROS with USARSim. The node automatically configures ROS transforms and topics to integrate simulated hardware, and the paper details its design and demonstrates its use with mobile robots and robotic arms. The node enables automatic configuration of ROS transforms and topics, facilitating full use of simulated hardware, and the paper demonstrates its application to mobile robot and robotic arm control.
The Robot Operating System (ROS) is steadily gaining popularity among robotics researchers as an open source framework for robot control. Additionally, the Unified System for Automation and Robot Simulation (USARSim) has already been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamlessly interface between ROS and USARSim. It provides for automatic configuration of ROS transforms and topics to allow for full utilization of the simulated hardware. The design of the new node, as well as examples of its use for mobile robot and robotic arm control are presented.
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