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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
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