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1 Rosetta and Gazebo: Simulating Robots A CE Project Robotics Institute, Carnegie Mellon September 12, 2007
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2 Gazebo Physics-based simulator Robots represented as models User writes models for new robots Defines geometric bodies Creates joints
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3 Interfacing with Gazebo Gazebo interfaces via shared memory Need our system to talk to Gazebo Our system uses serial to talk to robots…
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4 Software Architecture with Robots
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5 Software Architecture for Simulation
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6 Rosetta in a Nutshell Rosetta sits between low-level controllers and Gazebo Translates incoming serial commands into shared memory commands for Gazebo
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7 How Rosetta Works Rosetta “spoofs” a serial port Creates a file on the computer, not really a serial port We tell low-level controller programs to use the fake port Each program has config file; says which serial port robot is on We change config file to use spoofed serial port Rosetta reads from fake port Parses commands as if it were the real robot Sends commands to Gazebo instead
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