Ros Data visualization tool Rviz and three-dimensional physics engine robot simulation tool V-rep Morse Gazebo webots Usarsimros Overview

Ros Data visualization tool Rviz and three-dimensional physics engine robot simulation tool V-rep Morse Gazebo webots Usarsimros OverviewRviz

Rviz is a ROS data visualization tool that allows boring data like string literals to be displayed in a very visual way, such as two-or three-dimensional images, as follows:

In addition, it is also an important human-computer interface, such as a six-legged robot, for example:

Single foot (initial-adjustment):

The numerical results are as follows:

---header:   seq:9034  stamp:     secs:1487127789    nsecs:815515041  frame_id: ' Name: [' Coxa_joint_r1 ', ' femur_joint_r1 ', ' tibia_joint_r1 ']position: [-0.973265404079084, 0.7737742705767539, 0.37542032210281007] Velocity: []effort: []

Six Feet (Adjustment):

The numerical results are as follows:

---header:   seq:2740  stamp:     secs:1487128030    nsecs:840929985  frame_id: ' Name: [' Coxa_joint_r1 ', ' femur_joint_r1 ', ' tibia_joint_r1 ', ' coxa_joint_r2 ', ' femur_joint_r2 ', ' tibia_joint_r2 ', ' coxa_joint_r3 ', ' femur_ Joint_r3 ', ' tibia_joint_r3 ', ' coxa_joint_l1 ', ' femur_joint_l1 ', ' tibia_joint_l1 ', ' coxa_joint_l2 ', ' femur_joint_l2 ', ' Tibia_joint_l2 ', ' coxa_joint_l3 ', ' femur_joint_l3 ', ' Tibia_joint_l3 ']position: [-0.1977, 0.5781000000000001,- 0.5928,-0.0009000000000001229, 0.0, 0.3878999999999999, 0.35850000000000026,-0.21209999999999996, 0.0, 1.017, 0.5486999999999997, 0.46109999999999984, 0.35850000000000026, 0.0, 0.0, 0.0, 0.0, 0.0]velocity: []effort: []---

Other features are as follows:

Visible, Rviz function is very rich, if you want to further study Rviz, below provides a reference URL:

1 Ros Wiki:http://wiki.ros.org/rviz

2 Ros-visualization/rviz:https://github.com/ros-visualization/rviz

3 Gareth-cross/rviz_satellite:https://github.com/gareth-cross/rviz_satellite

4 Davetcoleman/rviz_visual_tools:https://github.com/davetcoleman/rviz_visual_tools

5 Uarm-developer/uarmforros:https://github.com/uarm-developer/uarmforros

6 Ros-planning/moveit_visual_tools:https://github.com/ros-planning/moveit_visual_tools

7 Ros-visualization/oculus_rviz_plugins:https://github.com/ros-visualization/oculus_rviz_plugins

8 Ros-visualization/visualization_tutorials:https://github.com/ros-visualization/visualization_tutorials

9 Davetcoleman/ompl_visual_tools:https://github.com/davetcoleman/ompl_visual_tools

Too much information, here is to give some typical ~

V-rep

This robot simulation software online, more than a period of time to think than gazebo consumes a lot less resources, support a variety of physics engine, the effect is as follows:

The use of Linux under the very simple, there are interfaces with Ros,matlab and so on, after decompression, directly run can:

[email protected]:~/rob_soft/v-rep_pro_edu_v3_3_2_64_linux$./vrep.sh Using the default Lua library. Loaded the video compression library. Add-on script ' Vrepaddonscript-addonscriptdemo.lua ' was loaded. Simulator launched. Plugin ' Meshcalc ': Loading ... Plugin ' Meshcalc ': Load succeeded. Plugin ' bubblerob ': Loading ... Plugin ' Bubblerob ': Load succeeded. Plugin ' Collada ': Loading ... Plugin ' Collada ': Load succeeded. Plugin ' convexdecompose ': Loading ... Plugin ' convexdecompose ': Load succeeded. Plugin ' CustomUI ': Loading ... Plugin ' CustomUI ': Load succeeded. Plugin ' dynamicsbullet-2-78 ': Loading ... Plugin ' dynamicsbullet-2-78 ': Load succeeded. Plugin ' dynamicsbullet-2-83 ': Loading ... Plugin ' dynamicsbullet-2-83 ': Load succeeded. Plugin ' Dynamicsnewton ': Loading ... Plugin ' Dynamicsnewton ': Load succeeded. Plugin ' Dynamicsode ': Loading ... Plugin ' Dynamicsode ': Load succeeded. Plugin ' Dynamicsvortex ': Loading ... Plugin ' Dynamicsvortex ': Load succeeded. Plugin ' externalrenderer ': Loading ... Plugin ' ExternalrendeRER ': Load succeeded. Plugin ' K3 ': Loading ... Plugin ' K3 ': Load succeeded. Plugin ' luaremoteapiclient ': Loading ... Plugin ' luaremoteapiclient ': Load succeeded. Plugin ' MTB ': Loading ... Plugin ' MTB ': Load succeeded. Plugin ' Ompl ': Loading ... Plugin ' Ompl ': Load succeeded. Plugin ' Openmesh ': Loading ... Plugin ' Openmesh ': Load succeeded. Plugin ' PovRay ': Loading ... Plugin ' PovRay ': Load succeeded. Plugin ' qhull ': Loading ... Plugin ' qhull ': Load succeeded. Plugin ' RRS1 ': Loading ... Plugin ' RRS1 ': Load succeeded. Plugin ' reflexxestypeii ': Loading ... Plugin ' Reflexxestypeii ': Load succeeded. Plugin ' Remoteapi ': Loading ... Starting a remote API server on port 19997Plugin ' REMOTEAPI ': Load succeeded. Plugin ' SDF ': Loading ... Plugin ' SDF ': Load succeeded. Plugin ' simplefilter ': Loading ... Plugin ' simplefilter ': Load succeeded. Plugin ' surfacereconstruction ': Loading ... Plugin ' surfacereconstruction ': Load succeeded. Plugin ' URDF ': Loading ... Plugin ' URDF ': Load succeeded. Plugin ' Vision ': Loading ... Plugin ' Vision ': Load suCceeded. Using the ' Meshcalc ' plugin. Checking for an updated v-rep version...qt.network.ssl:qsslsocket:cannot resolve SSLv2_client_methodqt.network.ssl: Qsslsocket:cannot Resolve Sslv2_server_methodthis V-rep version is up-to-date. Initializing the Bullet physics engine in plugin ' dynamicsbullet_2_78 ' ... Engine Version:2.78plugin version:8initialization Successful. Initializing the Bullet physics engine in plugin ' dynamicsbullet_2_78 ' ... Engine Version:2.78plugin version:8initialization Successful. Simulator ended.

The main references are as follows:

1 Official website: http://www.coppeliarobotics.com/

2 ROS Wiki:http://wiki.ros.org/vrep_ros_bridge

3 Document: Http://www.coppeliarobotics.com/helpFiles/index.html

4 Lagadic/vrep_ros_bridge:https://github.com/lagadic/vrep_ros_bridge

Morse

Using the Blender game engine, the simulation effect is still good, supporting Ros, as follows:

Ros:

Morse is a general-purpose multi-robot simulation platform, the main feature is the freedom to control the actual simulation, you can freely design the component model to meet their needs, the use of blender real-time game engine for the original rendering, design the appropriate architecture, support the common network interface. It offers a wide range of configurable sensor and actuator modules, a high degree of scalability, a human-to-robot interaction simulation, programming with Python, rich documentation and ease of installation but no precise dynamics simulations, poor clock synchronization performance, and the possibility of a different step in multi-robot simulation. There are currently 16 schools and research institutions using open source software, limited to Linux and MacOSX operating systems.

Resources:

1 Official website: http://www.openrobots.org/morse/doc/stable/morse.html

2 Morse-simulator/morse:https://github.com/morse-simulator/morse

Gazebo

Ros Standard, blog is introduced, here no more say.

Recommend some Web sites:

1 Official website: http://gazebosim.org/

2 rotors is a UAV gazebo simulator:https://github.com/ethz-asl/rotors_simulator

Webots

Paid robot simulation software to support Ros.

Webots is a mobile robot development platform with modeling, programming and simulation, which is mainly used for ground robot simulation. Users can design a variety of complex heterogeneous robots in a shared environment, can customize the environment size, all objects in the environment including shape, color, text, quality, function, etc. can also be freely configured by the user, it uses Ode to detect the collision of objects and simulate the dynamic characteristics of rigid structures, It is possible to accurately simulate physical properties such as velocity, inertia, and friction of objects. Each robot can assemble a large selection of simulation sensors and drivers, the robot's controller can be programmed through an internal integrated development environment or a third-party development environment, the controller program can be written in c,c++ and so on, each robot behavior can be tested in the real world. Support for a large number of robot models such as Khepera, Pioneer2, Aibo, etc., can also import their own defined robots. The simulation software is used by more than 1200 universities and research centers around the world, but requires a fee to support mainstream operating systems including Linux, Windows and MacOS.
Specific Reference official website: http://www.cyberbotics.com/

mrpt

Specific Reference official website: http://www.mrpt.org/

1 mrpt_localization:http://wiki.ros.org/mrpt_localization

2 mrpt_navigation:http://wiki.ros.org/mrpt_navigation

Usarsimros

Reference: https://sourceforge.net/projects/usarsimros/

Matlab

It is recommended to install MATLAB 2016b.

Learn Linux and recommend a Linux enthusiast to learn a Linux command every day.

Ros Small Classroom, robotics.

Ros Data visualization tool Rviz and three-dimensional physics engine robot simulation tool V-rep Morse Gazebo webots Usarsimros Overview