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Rosetta and Gazebo:Simulating Robots

ACE Project

Robotics Institute, Carnegie Mellon

September 12, 2007

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Gazebo

Physics-based simulator

Robots represented as models

User writes models for new robots Defines geometric bodies Creates joints

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Interfacing with Gazebo

Gazebo interfaces via shared memory Need our system to talk to Gazebo Our system uses serial to talk to robots…

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Software Architecture with Robots

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Software Architecture for Simulation

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Rosetta in a Nutshell

Rosetta sits between low-level controllers and Gazebo

Translates incoming serial commands into shared memory commands for Gazebo

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How Rosetta Works Rosetta “spoofs” a serial port

Creates a file on the computer, not really a serial port

We tell low-level controller programs to use the fake port Each program has config file; says which serial

port robot is on We change config file to use spoofed serial port

Rosetta reads from fake port Parses commands as if it were the real robot Sends commands to Gazebo instead