w4tchd0g/gazebo-simulator

Simulation of sensors in Gazebo

This repository is part of a bachelor thesis about the simulation of sensors using Gazebo.

World editor

In Gazebo it is possible to create objets like cubes, cylinders or bullets. It's possible to combine them to complex objects.

Wall editor

To test the navigation of robots in closed rooms, various scenarios can be created using the integrated wall editor.

TurtleBot3

The TurtleBot3 is a mobile robot platform developed by ROBOTIS. This robot is optimal for education because of its flexibility in mounting sensors on it.

TurtleWorld

The TurtleWorld is a predefined simulation environment with walls and objects. This world is perfect to test the usage of different sensors for navigation.

Sensor simulation

In Gazebo it is possible to test sensors from different manufacturers. Due to the large community, there are already created 3D models for many different sensors.

LiDAR

Gazebo can visualize the laser beams of LiDAR sensors to show how a robot can see it's environment. The collected data can used in ROS to navigate the robot.

Microsoft Kinect and Intel Real Sense R200

The popular Microsoft Kinect and Intel RealsSense R200 cameras are aviable as 3D models for simulation. They can be used for depth measurements.