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Weeks 6-7: Robot Simulation with Gazebo

These two weeks cover the setup and utilization of Gazebo, the primary open-source simulator for validating robotic systems before real-world deployment.

Topics Covered​

  • Gazebo Simulation Environment Setup: Configuring the operating system and tools to run Gazebo effectively.
  • URDF and SDF Robot Description Formats: Learning to define the robot's physical properties (joints, links, sensors) using:
    • URDF (Unified Robot Description Format) - Primary ROS standard.
    • SDF (Simulation Description Format) - Gazebo's native format for environments and models.
  • Physics Simulation and Sensor Simulation: Understanding how to correctly model rigid body physics, gravity, and generate synthetic sensor data streams within the simulation.
  • Introduction to Unity for Robot Visualization: Exploring Unity as an alternative or complementary tool for high-fidelity rendering and advanced human-robot interaction visualization.