Simulation

[lukicdarkoo]

The simulation will allow us to simulate robot dynamics, and sensors (LiDARs, cameras, encoders, and distance sensors), and display the robot's visual appearance.

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High-level tasks:

• Make sure to use Linux, ideally Ubuntu 20.04 LTS. Down the road, it will be much easier to work with Linux.
• Install Webots and go through tutorials
• Import the 3D environment
  • Make sure to use primitive bounding objects, see point 8
• Create a dummy differential drive robot
• Model robot sensors (wheel encoders, range sensors, and Lidar)
• Integrate ROS 2 with ros2_control
• Calibrate and optimize the simulation (e.g. wheel distance, wheel distance, sensor accuracy...)
• Wait for the final 3D model from the #mechanics subteam
• Integrate the final 3D model including new mechanisms

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Some examples:

• Only simulation: https://github.com/robotique-ecam/simulation-world
• Simulation with a ROS 2 integration: https://github.com/lazicdanilo/bachelor-project