CIRC2024 Simulation Top Level Issue

[Roozki]

Description

This master issue outlines the core developments and enhancements aimed at developing a simulation and testing our systems in virtual worlds. We intend to simulate our full system, including the arm, chassis, and network base.

Objectives

• Simulate as much data as we can, including cameras, GNSS, network speeds, etc
• Ideally, we can launch all needed ROS nodes, and then only need to launch the simulation to act as a replacement for our actual robot. (smooth simulation<->reality transition)
• Simulate all logic of our system. We should be able to test navigation, as well as practice teleoperation through simulated camera feeds.

Milestones

• Complete URDFs #10
• Complete Simulation packages for rover (SRDFs and gazebo-combatable URDFs) #9
• Simulate our sensors (USB Cameras, GNSS antennas, realsense cams)
• Simulate tasks (Develop virtual, interactable worlds)
• Simulate automated antenna pointing

What We Are Working With

Hardware Control base, but no extra hardware needed other than a strong computer.

Software

• GNSS Software: For base station configuration and data handling
• ROS or other control algorithms: For automated antenna pointing
• Possibly Custom Networking Tools: For simulating Wi-Fi speed and data monitoring
• Gazebo
• Rviz
• ROS Moveit <-> gazebo for any inverse kinematics

Resources

• Gazebo Simulator Documentation

Open Relevant Issues

10

9

[Roozki]

kevin

[Roozki]

relative issue: #9

[stephenqiao1]

hi

[TheRealVincentVanGogh]

hola