¿Cómo se simulan entornos complejos utilizando ROS?

To simulate complex environments using ROS, I’d start by choosing a platform like Gazebo or NVIDIA Isaac Sim, which both integrate well with ROS. I’d create detailed 3D models using software like Fusion 360, Blender, or Unreal Engine and import them into the simulation. By integrating realistic sensor models, ROS Control, and robots, I can simulate real-time data crucial for testing SLAM, navigation, and behavior trees. I’d also use ROS plugins for robot control and visualization in RViz. After running various scenarios, I’d analyze the results and make necessary tweaks to ensure everything works smoothly before moving to real-world deployment, bridging the gap between simulation and reality.

There are several tools that we can use for this. The scope MATLAB cover is endless really. But it’s an expensive software, and a heavy software at that and its rather complicated at times. There is also another option. Robotic Operating System (ROS) with Gazebo/Rviz. ROS is the framework that is used, and Gazebo/Rviz is the simulation tool. The useful feature of this is that, (Apart from the simulation) you can use the ROS workspace that you have made and integrate it directly into the hardware with some minor changes. But you do need to know about the ROS environment and get used to it a bit. In conclusion, both of these are good. But only one is open source and cheap.

It is essential to have a simulation environment when working with fairly complex robotics systems. ROS stands out as a robust and versatile framework capable of facilitating both the operation of physical systems and simulation of robots. Gazebo, as a 3D physics simulator, complements ROS effectively, offering a powerful tool for simulating a robot under real-world conditions. ROS is extensively utilized by robotics engineers to create Software-in-Loop Simulations (SILS), allowing for the verification of code in a simulated environment before its implementation on actual hardware. This ensures that the robot's behavior is predictable and safe within the laboratory environment, contributing to efficient development and testing processes.

Robots are complex cyber-physical systems that involve mechanics, electronics, and computation. Therefore, robotics software is constrained by the physical limitations of the robot and its surroundings. Simulation is a great and quick way to test your code in a virtual robot environment without risking expensive equipment.

ROS provides the 3D physics simulator Gazebo, which allows us to build custom environments using floor plans and import robot models described in URDF. You can include various sensors in the simulation to test their performance. Additionally, tools such as RViz and PlotJuggler can be used to visualize the sensor data in real time.

Nowadays, Gazebo is the most popular simulator for ROS, and multiple resources can be easily found in the open-source community, sometimes even provided by manufacturers. Whether you require a testing scenario, a robot model, or a specific sensor, Gazebo provides an accurate physics engine to model their behavior within the real world. All of this makes Gazebo a perfect way to package and showcase a robot application.

RVIZ is a great visualization tool that also allows interaction and sending commands to robots. It can be used in the same way whether dealing with a real or a simulated robot, making it a versatile tool for all stages of robot testing. Custom RViz plugins can be developed or installed to extend its functionalities. Additionally, Webviz provides a web-based version that can be used on any device.

# Here's a guide on how to use : 1. Install Stage by running the command `sudo apt-get install ros-<distro>-stage` . 2. Launch the Stage simulator by running the command `rosrun stage_ros stageros` . 3. Create a new file with a `.world` extension (e.g., `my_world.world`). 4. Define the world by adding elements such as obstacles, robots, and sensors. 5. Create a new ROS node that will interact with the Stage simulator. 6. Use the `stage_ros` package to communicate with the Stage simulator. 7. Use the `stage_ros::GetWorld` service to get information about the simulated world. 8. Use the `stage_ros::SetPose` service to set the pose of the robot in the simulated world. 9. Implement a navigation algorithm to navigate the robot .

URDF is a great way to define the characteristics of your robot in a unified format, enabling ROS to calculate the transform between all the joints within the robot. A URDF can be utilized for both physical and simulated robots, with the "ROS launch file" determining whether to initiate the robot drivers or substitute them with Gazebo plugins. URDF can be linked to STL files to showcase the 3D models of the robot and its components in RViz and Gazebo.

Gazebo plugins offer a great way to customize your simulation. Through its API, the simulator allows you to retrieve information and interact with the virtual robot and its environment. ROS-compatible manufacturers often develop their own plugins to simulate the operation of their sensors and controllers. Developers can create their own plugins to enhance the visualization of specific information and events, as well as to generate customized interfaces, or even simulate real human-robot interaction.

Depending on your specific needs, there are other great simulators available. MVSim is an excellent 2.5D simulator specializing in multi-robot applications. Isaac Sim serves as NVIDIA's solution for highly realistic graphics and physics in robotic simulation. If none of these options suit your requirements, an increasing number of companies opt to develop their own simulators using game engines such as Unity or Unreal. These engines offer straightforward ROS/ROS2 integration, enabling the creation of customized simulators tailored to their specific needs.