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International Workshop on Modelling and Simulation for Autonomous Systems

MESAS 2016: Modelling and Simulation for Autonomous Systems pp 189–195Cite as

Advancement in Multi-body Physics Modeling for 3D Graphical Robot Simulators

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 9991))

Abstract

In this paper we present an interface to develop a communication between two different simulators: Gazebo, aiming at scene realism, and OpenModelica, focused on accurate dynamic simulation. This communication allows us to create a cooperative simulation loop, having a single shared simulated environment, and exploiting the best characteristics of each simulation.

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Notes

  1. 1.

    Robot Operating System (ROS). http://www.ros.org.

  2. 2.

    Open Dynamics Engine (ODE). http://www.ode.org.

  3. 3.

    SDF format. http://sdformat.org.

  4. 4.

    OpenModelica. https://openmodelica.org.

  5. 5.

    Modelica. https://www.modelica.org.

References

  1. Drumwright, E., Hsu, J., Koenig, N., Shell, D.: Extending open dynamics engine for robotics simulation. In: Balakirsky, S., Hemker, T., Reggiani, M., Stryk, O., Ando, N. (eds.) SIMPAR 2010. LNCS, vol. 6472, pp. 38–50. Springer, Heidelberg (2010)

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  2. Koenig, N., Howard, A.: Design and use paradigms for gazebo, an open-source multi-robot simulator. In: IEEE/RSJ International Conference on Intelligent Robots and Systems, Sendai, Japan, pp. 2149–2154, September 2004

    Google Scholar 

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Author information

Authors and Affiliations

  1. Politecnico di Milano, Dipartimento di Elettronica, Informazione e Bioingegneria, Piazza Leonardo da Vinci 32, 20133, Milano, Italy

    Gianluca Bardaro, Luca Bascetta, Francesco Casella & Matteo Matteucci

Authors
  1. Gianluca Bardaro
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  2. Luca Bascetta
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  3. Francesco Casella
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  4. Matteo Matteucci
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Corresponding author

Correspondence to Gianluca Bardaro .

Editor information

Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Hodicky

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© 2016 Springer International Publishing AG

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Cite this paper

Bardaro, G., Bascetta, L., Casella, F., Matteucci, M. (2016). Advancement in Multi-body Physics Modeling for 3D Graphical Robot Simulators. In: Hodicky, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2016. Lecture Notes in Computer Science(), vol 9991. Springer, Cham. https://doi.org/10.1007/978-3-319-47605-6_15

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  • DOI: https://doi.org/10.1007/978-3-319-47605-6_15

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-47604-9

  • Online ISBN: 978-3-319-47605-6

  • eBook Packages: Computer ScienceComputer Science (R0)

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