# Tag Info

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

Stage and Gazebo are open source 2D and 3D simulators respectively. They are created and maintained by the Player project. They are very easy to use and have a lot of pre-built maps and robots. Depending on the experience of your audience you may need to do a bit of the heavy lifting (i.e. building configuration files and the main classes). They have a ...

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

May be it is a bit pricy (CHF 75) but I still suggest Colobot. It is a nice, almost game-like environment where robots need to help humans to make a space base habitable. Robots are programmed by the kids while increasingly complex tasks are performed. The program teaches the fundamentals of programming in a goal-oriented, funny way.

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

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

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 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

Gazebo is a good tool for what you want to do. Since you're using a custom robot you will need to build a model for the simulator to use. They have managed to make doing so pretty easy but for a quadraped I can imagine it will take a bit of time. Gazebo is also nice because it works well with ROS which means that if you build you could build a program to ...

3

Microsoft robotics is FREE and includes a simulator. It is not exactly the easiest environment in the world, however it IS robust and appropriate to real robotics. I think with some teacher involvement to set things up beforehand, it could be usable. There is a simulator 'package' for LEGO, Neato and some other robots, and they can be programmed in C# or a ...

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 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

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]);

2

RobotC has a simulator available, although both are products at some costs. However, they are very geared towards younger students and education. This would be the easiest, and most appropriate route if costs are not a blocking factor (around \$100 per license for both for single user, \$300 for 6 users, \$600 for 30 users). If you buy the student version ... 2 This wouldn't cover the robot simulation, but the OpenCV Machine Learning Library might be useful for evaluating learning algorithms and training parameters to download to the robot. It includes a neural network implementation, which may be of particular interest for this problem. OpenCv is a standard library too, and would likely integrate well with some ... 2 V-Rep (Virtual Robot Experimentation Platform) seems to be quite broad in the kinds of simulations that it can do. It is free for educational purposes and comes with a wide range of tools. You can take a look at this YouTube video for a demo. 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 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 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 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

"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 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 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) ...

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 ...

1

This sounds similar to work my colleague did on high-speed vehicle control. He used TORCS (The Open Race Car Simulator). See this project page for a video, screenshots, and the published paper of his work.

1

We are using for the AUV-Avalon a simulation called Mars http://rock-robotics.org/master/documentation/simulation/index.html Unfortunately there is no ROS integration, but a Rock integration. Rock supports HIL in general. For AUVs there are multiple integrations available which are collected in the mars-core package https://github.com/rock-simulation/...

1

Tips for MORSE on Ubuntu 12.04: If you're having trouble compiling MORSE, perhaps these can help: Install python3-dev or python-dev or both (not sure which was needed) Check which version python3 directs to. If it's the wrong one, you can specify the python version explicitly in cmake. The cmake I used is: "cmake -DCMAKE_INSTALL_PREFIX=/home/oferb/opt/...

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