3D多机器人动力学仿真 Gazebo

jopen 12年前

Gazebo is a 3D multi-robot simulator with dynamics. It is capable of simulating articulated robot in complex and realistic environments.

Gazebo是一个三维多机器人动力学仿真。它能够模拟复杂和现实的环境中关节型机器人。

Simulation of standard robot sensors, including sonar, scanning laser range-finders, GPS and IMU, monocular and stereo cameras
Models for commonly used robot types such as the PR2, Pioneer2DX, Pioneer2AT and SegwayRMP
Realistic simulation of rigid-body physics: robots can push things around, pick things up, and generally interact with the world in a plausible manner
Compatible with ROS and Player
Stereo camera model: generates stereo image pairs, disparity and depth maps
Plugin models: users can develop their own robot/sensor models, and have these models loaded dynamically at run time
Skins: simple geometric models may be augmented with realisitc 'skins' from 3D modelling programs
Gazebo is free software, released under the Apache 2.0 license. You are free to use, extend and modify Gazebo according to your needs, but we would appreciate it if you would send us your patch.