Enabling codesharing in Rescue Simulation with USARSim/ROS

Open Access
Authors
Publication date 2014
Host editors
  • S. Behnke
  • M. Veloso
  • A. Visser
  • R. Xiong
Book title RoboCup 2013: Robot World Cup XVII
ISBN
  • 9783662444672
ISBN (electronic)
  • 9783662444689
Series Lecture Notes in Computer Science
Event 17th RoboCup International Symposium (Eindhoven)
Pages (from-to) 592-599
Publisher Berlin: Springer
Organisations
  • Faculty of Science (FNWI) - Informatics Institute (IVI)
Abstract
The Robot Operating System (ROS) has been steadily gaining popularity among robotics researchers as an open source framework for robot control. The Unified System for Automation and Robot Simulation (USARSim) has been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamlessly interface between ROS and USARSim. It provides for automatic configuration of ROS transforms and topics to allow for full utilization of the simulated hardware. The design of the new node as well as examples of its use for mobile robot inside the RoboCup Rescue Simulation League are presented.
Document type Conference contribution
Language English
Published at https://doi.org/10.1007/978-3-662-44468-9_54
Downloads
USARSimRos (Accepted author manuscript)
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