WCSE

Efficient Crawler Robot Modelling in Gazebo: A Tutorial

Abstract— Simulation and virtual experiments are important stages of robotics research. Robotics simulators allow testing new hypothesis and algorithms without taking risks to destroy valuable hardware. Therefore, most of popular robots are sup-plied with simulation models from their makers or associated research groups. This tutorial paper describes a process of creating of a robot model for the Gazebo simulator starting from the model construction and physics setup, and ending up with sensors and Robot Operating System based control integration. The process is illustrated with an example of a step-by-step modelling of a crawler-type robot Servosila Engineer supplied with an open-source code via a public Gitlab repository.

Index Terms— modelling, simulation, Gazebo, ROS, tutorial.

Alexandra Dobrokvashina
Intelligent Robotics Department Kazan Federal University, Russia
Roman Lavrenov
Intelligent Robotics Department Kazan Federal University, Russia
Yang Bai
Information Science and Engineering Department Ritsumeikan University, Japan
Mikhail Svinin
Information Science and Engineering Department Ritsumeikan University, Japan
Evgeni Magid
Intelligent Robotics Department Kazan Federal University, Russia

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Cite: Alexandra Dobrokvashina, Roman Lavrenov, Yang Bai, Mikhail Svinin, Evgeni Magid, " Efficient Crawler Robot Modelling in Gazebo: A Tutorial " WCSE 2022 Spring Event: 2022 9th International Conference on Industrial Engineering and Applications, pp. 475-483, Sanya, China, April 15-18, 2022.