OS6-3 New Features Implementation for Servosila Engineer Model in Gazebo Simulator for ROS Noetic

Title:	OS6-3 New Features Implementation for Servosila Engineer Model in Gazebo Simulator for ROS Noetic
Publication:	ICAROB2023
Volume:	28
Pages:	153-156
ISSN:	2188-7829
DOI:	10.5954/ICAROB.2023.OS6-3
Author(s):	Alexandra Dobrokvashina, Shifa Sulaiman, Timur Gamberov, Kuo-Hsien Hsia, Evgeni Magid
Publication Date:	February 9, 2023
Keywords:	ROS, Simulation, Servosila Engineer crawler type robot, Gazebo, Webots
Abstract:	Virtual experiments play an important part in robotics allowing to reproduce complex environments, perform complicated and risky tasks. Yet, a virtual model is not always a one-time build action and it requires revisions in a timely manner as operating systems and dependent software evolves. This article presents a number of technical updates of the Servosila Engineer crawler type robot virtual model. The model evolution necessity was caused by a migration from an outdated robot operating system (ROS) of Melodic version to the modern ROS Noetic version. In addition to migration issues, for the robot virtual model a new onboard torch control unit and a robot head aligning unit were developed.
PDF File:	https://alife-robotics.co.jp/members2023/icarob/data/html/data/OS/OS6/OS6-3.pdf
Copyright:	© The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/

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