Michele Galullo
Leonardo
May 21, 2023
Period
- 2018
Title
I used this software to simulate a movement of the segway on the floor. In particular, for each wheel I simulated the rolling motion. Gazebo was very useful to me as it helped me improve the control algorithm before testing it on a real segway.
Pro
It is easy tool to use with ROS. You can create your own simulation environment in order to avoid fails with the real hardware.
Con
The documentation is not very thorough. During my tests it often crashed. The graphical interface is not intuitive to use.
Robot
Frank a prototype of AlterEgo wheeled humanoid robot.
Antonio Manuele
Università di Pisa
May 20, 2023
Period
- 2020
Title
I used GAZEBO for two different applications. The aim of the first application was the simulation of a humanoid robot, that allowed me to verify the correct implementation of the kinematic simulating the physical characteristics of the real robot. The other application was to simulate a manipulator.
Pro
It allows to simulate a lot of physical phenomena such as gravity, friction, lights and shadows. It is also possible to assign certain torques to the joints in order to simulate the maximum torque of the motor used in the real application.
Con
Sometimes it crashes. Create a robot from zero using XML is not easy at all.