Chapter 3. Working with Robot Simulation Using ROS and Gazebo

In the last chapter, we looked at the mechanical designing of our robot and designed its 2D and 3D models. In this chapter, we will simulate the robot that we designed. Before diving into simulation, we will look at the uses of robot simulation, advantages, disadvantages, and various robotic software simulation tools.

We will also discuss kinematics and the dynamic parameters of the robot that will help you to understand the functioning of the robot. After discussing these concepts, we will discuss the software platforms that are used for this simulation. We are planning to perform this simulation using Gazebo with the help of Robot Operating System (ROS). After we discuss the basic concepts of ROS and Gazebo, we will implement the robot kinematic and dynamic model of the robot according to the Gazebo descriptions. Finally, we will simulate the robot in a typical hotel environment and test the autonomous navigation ability...