How can I create robot model and simulate with ROS?

asked 2011-03-20 22:47:31 -0600

Aloe
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updated 2012-02-27 13:31:23 -0600

kwc
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I want to create my own robot model and simulate that with C or C++ code through ROS software.

But I can't find any information about that.

Please tell me about this problem detail.

I want to simulate like this vedio

http://robotics.usc.edu/~ahoward/movi...

Sincerely.

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answered 2011-03-21 19:24:52 -0600

Stefan Kohlbrecher

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The keyword you should look for is URDF (Unified Robot Description Format). This format along with the associated tools allows you to create a robot model and use it with existing ROS tools (for example gazebo, rviz and tf). Have a look at this page: http://www.ros.org/wiki/urdf Be sure to click the "Tutorials" link in the light blue box, this should get you started.

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Just as an update... URDF replaced with SDF now.. For people reading through this thread now, make your models in SDF

Ammar ( 2012-11-06 05:08:49 -0600 )edit

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answered 2011-03-21 12:04:15 -0600

watts
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You can use the Gazebo simulator with ROS:

http://www.ros.org/wiki/simulator_gazebo

The "Tutorials" link on that webpage has instructions for creating a robot in simulation and running it.

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answered 2011-03-21 16:03:20 -0600

Aloe
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I already saw that pages and tryed to do every thing. But that page instruct only spawning the meterials not creating robot. I want to create my own robot model to simulate with that. But I don't know how can i do that.

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answered 2011-03-21 22:56:02 -0600

Aloe
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Thanks for answer to my question. I will try according to URDF tutorials. And.. after I create a model that I want, can I make a sourece code(?) to simulate with this model like below vedio? http://robotics.usc.edu/~ahoward/movies/gazebo-collide-15fps.avi

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Yes you should be able to do that.

tfoote ( 2011-03-26 13:17:50 -0600 )edit

hey I have develop a robot model using urdf. But do not know how to run the robot. I also would like to run my robot like the above video. My robot is also car like. it has 4 links for 4 wheels. and one base link for the car base. I have tried everything like pr2_controller_manager os pr2_controller

Robot ( 2014-10-02 04:01:23 -0600 )edit

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answered 2011-07-01 11:36:37 -0600

Aidan1488
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I'm also very interested in this topic. Did you find anything usefull? I'm trying to do a robosoccer simulation, I have the models but no idea how to move them around. It seems that you need controllers to move the joints, but where or how do I write a source code that uses does controllers to give robots more complex behaviors? (plays and stuff). Please if you found anything let me know.