Mobile robot simulation with which simulator?

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This paper: http://www.dca.fee.unicamp.br/~gudwin... [1] describes a set of experiments comparing V-rep and Gazebo for simulation. It is a fairly old paper but the results still hold true in my experience.

Simulation is V-rep with the rocky environment can be easily constructed while that in Gazebo may be harder. You can also add the LiDAR and 3D camera sensors on the robot while using the Lua child scripts to publish messages on topics to interface with ROS. See RosInterface: http://www.coppeliarobotics.com/helpF...

Hope this helps.

[1] Nogueira, Lucas. "Comparative analysis between gazebo and v-rep robotic simulators." Seminario Interno de Cognicao Artificial-SICA 2014 (2014): 5