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Rosetta and Gazebo: Simulating Robots. A CE Project Robotics Institute, Carnegie Mellon September 12, 2007. Gazebo. Physics-based simulator Robots represented as models User writes models for new robots Defines geometric bodies Creates joints. Interfacing with Gazebo.
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Rosetta and Gazebo:Simulating Robots ACE Project Robotics Institute, Carnegie Mellon September 12, 2007
Gazebo • Physics-based simulator • Robots represented as models • User writes models for new robots • Defines geometric bodies • Creates joints
Interfacing with Gazebo • Gazebo interfaces via shared memory • Need our system to talk to Gazebo • Our system uses serial to talk to robots…
Rosetta in a Nutshell • Rosetta sits between low-level controllers and Gazebo • Translates incoming serial commands into shared memory commands for Gazebo
How Rosetta Works • Rosetta “spoofs” a serial port • Creates a file on the computer, not really a serial port • We tell low-level controller programs to use the fake port • Each program has config file; says which serial port robot is on • We change config file to use spoofed serial port • Rosetta reads from fake port • Parses commands as if it were the real robot • Sends commands to Gazebo instead
