"Omniwheel Chassis' Model and Plugin for Gazebp Simulator"

We developed a four-wheel mecanum mobile robot plugin controls the robot by publishing linear velocity data along X and Y axes, and angular velocity data along Z-axis. The plugin could optionally publish a standard ground-truth odometry of the Gazebo or a calculated in real time wheel odometry. Th

Experience in Efficient Real Office Environment Modelling in Gazebo: a Tutorial

New robotic solutions should be carefully verified before executing with real robots in real environments. Simulation provides a significant support in testing, but requires test sites with a high level of realism. In this case, 3D modeling can be used to produce the necessary 3D digital representat

Alvus Modeling in Gazebo

Insufficient testing of medical robots can lead to accidents during a surgery and damage an expensive equipment. A simulated 3D patient permits a preliminary checking of robotics-based medical scenarios without threatening a real patient's health. This article presents a 3D model of a human abdo

"Comparison of Monocular ROS-based Visual SLAM Methods"

This article presents analysis and comparison of the most widely used Visual SLAM monocular algorithms built for Robot Operating System (ROS): ORB-SLAM2, ORB-SLAM3, DSO and LDSO. The KITTI and Euroc MAV datasets were selected to evaluate the algorithms? performance.

"LIRS-Artbul: Design, Modelling and Construction of an Omnidirectional Chassis for a Modular Multipurpose Robotic Platform"

We describe a chassis design, modelling in Blender, selection of components, assembly process and basic locomotion software development. The chassis model behavior was validated in virtual environments of Gazebo and, after assembling, in real world locomotion scenarios.

Ultrasound sensor modeling in Gazebo simulator for diagnostics of abdomen pathologies

Ultrasound imaging is a widely used technique in medicine. It is a non-invasive medical procedure that uses sound waves to produce pictures of the inside of the human body. Ultrasound helps to diagnose conditions of soft tissues and detecting a wide range of medical diseases and pathologies. This pa

Automatic Tool for Gazebo World Construction: From a Grayscale Image to a 3D Solid Model

Robot simulators provide an easy way for evaluation of new concepts and algorithms in a simulated physical environment reducing development time and cost. Therefore it is convenient to have a tool that quickly creates a 3D landscape from an arbitrary 2D image or 2D laser range finder data. This pape

Comparative analysis of ROS-based centralized methods for conducting collaborative monocular visual SLAM using a pair of UAVs

Unmanned Aerial Vehicle (UAV) is a flying robot that acts without a constant human pilot involvement. UAVs are applied in military and civilian areas, in search and rescue operations, 3D mapping, simultaneous localization and mapping (SLAM) and other tasks. SLAM approaches are based on various senso

On the Problems of SLAM Simulation for Mobile Robots in the Arctic Conditions

Autonomous robots in the Arctic cover a number of strategically important tasks, including climate research, reconnaissance, transportation, material delivery, search and rescue. These goals require adapting standard navigation, localization and mapping algorithms to the harsh Arctic conditions, whi