Development of a robot control system in a simulation environment using ROS

Currently, the field of robotics is becoming increasingly popular due to the introduction of robots in production processes and other areas of human life. Among all the problems, the question of testing (remote testing and modeling of robot functionality) in a particular simulation environment is especially acute.

The project aims to explore a range of ROS-compatible simulation environments to find the most suitable environment for a particular task.

Objective of the project:

The goal of the project is to study the most popular and demanded ROS-compatible modeling environments and compile a comparative table on them, based on which it will be easier for the user to decide which of the environments is more suitable for solving his problem. As well as compiling user documentation for work in the selected modeling environment.

As a result of the project, a table is planned with a list of various simulation environments, in which the main parameters (characteristics) of the simulation environment will be described, and documentation will be drawn up for each of the environments.

Customer:

The customer of the project is the Moscow Institute of Electronics and Mathematics.

Planned results of the project:

1. Comparative table of simulation environments, compiled according to the results of the study of the environment by the project participants. This table will make it easier to choose from a variety of modeling environments that can be used in the following projects of the MIEM CAD laboratory.
2. User documentation for each modeling environment studied in the project, which will help participants in future projects of the MIEM CAD laboratory.

        3. A database of examples for each modeling environment that can help MIEM UL CAD project participants get comfortable in an unfamiliar modeling environment and understand its concepts.

Current results:

Currently, the Coppelia Sim simulation environment is being actively studied, problems that the user may encounter during the installation and / or operation of this software are described. At the moment, the participants are working on creating a database of examples for this simulation environment, writing user documentation and filling out a table that will compare all the considered simulation environments.
In the near future, work with Coppelia Sim will be completed, all materials and examples will be posted in the project's Gitlab, and the team will begin to explore the Gazebo simulation environment.

The project team: