USARSim/ROS: A Combined Framework for Robotic Control and Simulation

Author:

Balakirsky Stephen1,Kootbally Zeid2

Affiliation:

1. National Institute of Standards and Technology, Gaithersburg, MD

2. University of Maryland, College Park, MD

Abstract

The Robot Operating System (ROS) is steadily gaining popularity among robotics researchers as an open source framework for robot control. Additionally, the Unified System for Automation and Robot Simulation (USARSim) has already been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamlessly interface between ROS and USARSim. It provides for automatic configuration of ROS transforms and topics to allow for full utilization of the simulated hardware. The design of the new node, as well as examples of its use for mobile robot and robotic arm control are presented.

Publisher

American Society of Mechanical Engineers

Cited by 11 articles. 订阅此论文施引文献 订阅此论文施引文献,注册后可以免费订阅5篇论文的施引文献,订阅后可以查看论文全部施引文献

1. Adaptive Gradient-Descent Extended Kalman Filter for Pose Estimation of Mobile Robots with Sparse Reference Signals;2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS);2022-10-23

2. Simulators for Mobile Social Robots: State-of-the-Art and Challenges;2022 Fifth International Conference on Connected and Autonomous Driving (MetroCAD);2022-04

3. ccaROS: A ROS Node for Cognitive Collaborative Architecture for an Intelligent Wheelchair;Intelligent Human Computer Interaction;2020

4. MiMicS;Proceedings of the 33rd Annual ACM Symposium on Applied Computing;2018-04-09

5. cBDI: Towards an Architecture for Human–Machine Collaboration;International Journal of Social Robotics;2016-11-26

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