18

I'm back to a computer! Like I said in this comment, ROS is generally not mandatory. ROS is one platform among many, famous mostly due to Willow Garage giving away free robots at some point in time to whoever wrote the most ROS modules. That said, it's not the best platform possible, and is certainly nothing overly special. Particularly, the said contest ...


7

I test everything in simulation I possibly can before I run on a real robot. I use V-REP extensively and have been extremely happy with it. The developers are extremely responsive and there is a free to use version for non-commercial purposes. They also have a great demo video outlining the features in V-REP. I've also spent a couple of months using gazebo, ...


4

just use matlab or and python with a set of fixed features in space represented as points. Don't do any vision processing. At this point any vision processing would be overkill. you are making this way too complex. the measurements for your slam can be angles to features. create a set of 30 features randomly populating a 20m by 20m square. make your view ...


4

I highly advise against using synthetic image data for testing your stereo vision algorithms. What will happen is that you end up with a system that works excellent on your synthetic data, but poorly in the real-world. Synthetic images are much easier to process than real-world images, as they lack all the shortcomings of real cameras that will make stereo ...


4

The author appears to be writting in a self promotional style, where the details listed about other work are simplified or ignored so that their claim, that their approach is better, can be established. I suspect the author is making the statement 'for good reasons' because they don't really know. I would ignore their claims and go read their calculations ...


3

You appear to be using a third-party toolbox, the Robotics Toolbox. If it's not running in Simulink, then it might not run in Simulink. If you want something that does, try the official toolbox. Mathworks generally offers trials of all their toolboxes. Your first error, "Simulink does not have enough information to determine the output size of this block," ...


3

Matlab has a package called Simscape that you can use for modeling physical systems in general. I would just caution you up front that Simscape is almost more like a plugin manager in that it enables other modules and doesn't offer a terrific amount of content on its own. This means you get to buy Simscape, then buy whatever other toolboxes you want that ...


3

You might look at v-rep. They say that the program is specifically designed to simulate any robot and support dynamic particles allowing for the creation of engines and propellors. The program even comes with a pre-made quadcopter model.


3

The MATLAB function block in Simulink has some limitations. The fact that Link.m is referred to as a function not a class is a worry. I recreated your Simulink model and get similar error messages, basically Simulink can't convert these classes into C code which it needs to do in order to run the simulation. You could try putting all your code into a ...


3

I changed the code and now it works properly. rob.Xtree{1} = rotx(1.57) * xlt([0 0 0]); rob.Xtree{2} = roty(1.57) * xlt([0.15,0,0]); rob.Xtree{3} = xlt([0.34 0 0]);


3

The URDF file simply references DAE/COLLADA files that exist elsewhere on the filesystem. Blender and FreeCAD have exporters for DAE files. Saying Blender is a "monstrous tool" is an opinion that probably has little facts to back it up. If you plan on doing URDF file generation more in the future, you will need to learn Blender. DAE is the default ...


2

A linearized quadrotor model can be found in the results section of my paper Kinodynamic RRT*: Asymptotically Optimal Motion Planning for Robots with Linear Dynamics. This is a state space model that includes the 3D position, 3D velocity, 2D angular position, and 2D angular velocity. The angular position and angular velocity are 2D because it restricts the ...


2

You might want to start by checking out AIM - Autonomous Intersection Management by the University of Texas at Austin. It is a simple 2D simulator, but sounds like it has the features you need. Also, you might want to search for civil engineering traffic simulators. I'm sure there are a bunch of them. One more option, you can use something like MASON a ...


2

I hope you have already done Armature creation. If not you need to do that first. Components in MORSE are either robots, sensors or actuators. Robots are mainly containers for sensors and actuators. Assuming you already have an initial simulation environment called mysim, you can create a new sensor with: $ morse add sensor <name> mysim or, for ...


2

I have developed a framework that compiles both as an AVR program to run directly on Multiwii board and also having the option to test the algorithms as a desktop 3D app. The 3d app is based on the irrlicht game engine. It can be found here: https://github.com/mkschreder/bettercopter


2

"ROS" is a relative term, the APM runs full custom code specifically designed for quadrocopter control where a custom ROS might be desirable to keep from crashing, on the other hand the Navio+ runs on a Linux kernel and runs code other than the autopilot, and still manages to keep from crashing. Most ROSs are really a set of functions on top of an existing ...


2

Disclaimer: This answer is somehow a reaction to the Shahbaz' post, so it has a pro-ROS bias. I do not think that ROS is mandatory, but it is a great starting point and worth the time to invest. It started within Willow Garage, but this company vanished and ROS is still alive, used and developed. Most of ROS is fully open source and also commercially ...


2

I did similar project with v-rep, python and opencv. 1- Set up an enviorement with visible objects 2- Set up your vision sensors with parameters 3- Write a python script that connects you to v-rep and do stereo vision application Example code: import vrep import time import cv2 import numpy as np vrep.simxFinish(-1) clientID = vrep.simxStart('127.0.0....


2

The recently open-sourced V-REP simulator may suite your needs. I found it more approachable than Gazebo, and it can run on Windows, OSX, and Linux. Their tutorials are fairly straight forward. There are a ton of different ways to interface with it programmatically (including with ROS). It looks like there is even a tutorial for making a hexapod, which you ...


2

I solved this problem by seeing below image from internet. This image explain the constraints in coordinate system in simulink. R = revolute ; S = spherical; W = weld; P = prisimatic As I have custom joint (in between ground and link 1-1) with R1R2R3 joints so body1 CS and body2 CS should coincident. To do this, I copy CS3 of link1-1 and paste it into ...


2

SimMechanics isn't an "inverse dynamics" engine, it's not an inverse kinematics engine, it's a "forward dynamics" or just "dynamics" engine. You provide link dimensions, inertias, and joint constraints. Then you provide either an applied force or an applied motion, SimMechanics propagates those forces (or equivalent forces, in the even of applied motions) ...


2

The easiest way to validate a set of DH parameters is to plug them directly into a simulator which can build a robot model from a DH table. Once you've got the DH-generated robot model, you can verify that the robotic structure that is generated is what you would expect based on your DH table. The most common DH-table based robot simulation package that I'...


2

I'm not a fan of DH parameters but they are entrenched in robot kinematics. An approach I prefer is to just write the whole chain as a series of simple transformations, eg. Ry is a rotation about the y-axis, Tz is a translation along the z-axis. From your figure, starting at the base and applying the transformations consecutively, you could write it like ...


2

I think the most important criteria are the purpose of your simulator (do you need contact physics? how complex are your models? ) your fluency in both solutions the size and quality of the documentation/community is the code you are going to write for the simulator re-usable for real system ? what is the licencing policy of the simulator (and its price) ...


2

As for as I am understanding your question, you are asking about open source physics engines for simulation, So here's a short list: 1. Box2D, 2. Bullet Physics, 3. Chipmunk, 4. Chrono::Engine, 5. DynaMo, 6. Moby (Physsim), 7. Newton Game Dynamics, 8. Open Dynamics Engine, 9. Open Physics Abstraction Layer, 10. OpenTissue.


1

The accuracy of the physics engine will most likely not be a problem. Differences between real world systems and their models are a much larger factor of errors then the slight differences between physics engines so you can use any physics engine you like. You will not be able to have accurate models (geometry imprecisions, mass characteristic imprecisions, ...


1

Most robotics simulators use ODE, Bullet, or PhysX as the back-end physics engine. As you noticed, these are primarily rigid-body simulators developed for the game industry. But I believe they have come a long way in recent years and are starting to have some soft-body dynamics. You might want to look into off-line rendering tools like Blender, Maya, ...


1

While Gazebo - and most other simulators - will allow you to simulate sensors, you have to realize that this the "weak" part of realtime simulators. Making an accurate simulated camera is really difficult. The result would therefore be great to test your integration and basic control algorithm behaviour (for instance that you move right when you should), but ...


1

For designing you can use Solidworks. And for simple simulation use Solidworks Simulation with Solidworks Motion Analysis. You can import/export data from/to MatLab or various other programs. Sensors and actuator can be placed on arbitrary points to sense the stress, displacement, etc. Use solidworks to test and improve the design. Another very good ...


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