Let's go through a quick tour so that you have a clear understanding of what you can expect when implementing a dynamic simulation for GoPiGo3. Gazebo is an open source 3D robotics simulator and includes an ODE physics engine and OpenGL rendering, and supports code integration for closed-loop control in robot drives—that is, sensor simulation and actuator control. There are two new concepts within this definition. Let's explain each one:
- Open Dynamics Engine (ODE), a physics engine written in C/C++ that includes two main components: rigid-body dynamics simulation and collision detection (https://www.ode.org/).
- Open Graphics Library (OpenGL), which is both a cross-language and cross-platform API for rendering 2D and 3D vector graphics. This API is typically used to interact with a GPU in order to achieve hardware-accelerated...
