Our team at Erle Robotics is glad to announce that the simulation for the Erle-Rover has been launched and open sourced.
For those that don't know it yet, Gazebo is a powerful real time physics simulator that allows the developers to test their algorithms in a secure and agile way. It runs along ROS (Robot Operating System) and that’s probably what makes it perfect, plus it offers a variety of sensors (such as lidars, cameras, range finders) in form of plugins that can be added to any robot model. We expect the APM community to benefit from this work and simulate their autonomous rovers using these tools.
To show the power of this plugin, here are some behaviours we developed and tested:
Obstacle avoidance : a simple but powerful enough algorithm to avoid obstacles. This behaviour was tested first under Gazebo and then brought to real life scenario. It uses a 270º HOKUYO lidar sensor, but all the details and the source code can be found here.
SLAM : SLAM application using hector_mapping node, a powerful SLAM approach that can be used only with a lidar sensor. All the details, including source code are available here. This also was translated to a real scenario.
Additional information and resources: