Simulation Components in Gazebo

Ian Peake; Joseph La Delfa; Ronal Bejarano; Jan Olaf Blech

doi:10.1109/ICIT46573.2021.9453594

Simulation Components in Gazebo

Ian Peake, Joseph La Delfa, Ronal Bejarano, Jan Olaf Blech

Research output: Chapter in Book/Report/Conference proceeding › Conference article in proceedings › Scientific › peer-review

5 Citations (Scopus)

178 Downloads (Pure)

Abstract

We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases.

Original language	English
Title of host publication	Proceedings of 22nd IEEE International Conference on Industrial Technology, ICIT 2021
Publisher	IEEE
Pages	1169-1175
Number of pages	7
ISBN (Electronic)	9781728157306
DOIs	https://doi.org/10.1109/ICIT46573.2021.9453594
Publication status	Published - 18 Jun 2021
MoE publication type	A4 Conference publication
Event	IEEE International Conference on Industrial Technology - Valencia, Spain Duration: 10 Mar 2021 → 12 Mar 2021 Conference number: 22

Conference

Conference	IEEE International Conference on Industrial Technology
Abbreviated title	ICIT
Country/Territory	Spain
City	Valencia
Period	10/03/2021 → 12/03/2021

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10.1109/ICIT46573.2021.9453594

ELEC_Peake_etal_Simulation components in Gazebo_IEEE_ICIT_2021_acceptedauthormanuscriptAccepted author manuscript, 3.76 MB

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title = "Simulation Components in Gazebo",

abstract = "We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases. ",

author = "Ian Peake and {La Delfa}, Joseph and Ronal Bejarano and Blech, {Jan Olaf}",

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doi = "10.1109/ICIT46573.2021.9453594",

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AU - Peake, Ian

AU - La Delfa, Joseph

AU - Bejarano, Ronal

AU - Blech, Jan Olaf

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N2 - We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases.

AB - We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases.

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M3 - Conference article in proceedings

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BT - Proceedings of 22nd IEEE International Conference on Industrial Technology, ICIT 2021

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T2 - IEEE International Conference on Industrial Technology

Y2 - 10 March 2021 through 12 March 2021

ER -

Simulation Components in Gazebo

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