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Ondřej Svoboda

Bachelor's thesis

Simulating RoFI Platform in GazeboSim

Simulating RoFI Platform in GazeboSim
Abstract:
Tato práce prezentuje nástroj pro simulaci distribuované modulární robotické platformy RoFI. Nástroj využívá Gazebo simulátor jako základ a rozšiřuje jeho možnosti pomocí pluginů. Simulace je navržena tak, aby používala stejné programovací rozhraní jako skutečné RoFI moduly, což umožňuje snadný převod kódu mezi skutečnými moduly a simulací. K tomu si navíc udržuje distribuovaný charakter RoFI platformy …more
Abstract:
A tool for simulating the distributed modular robotic platform RoFI is presented in this thesis. The tool uses the Gazebo simulator as the base and extends its capabilities through the use of plugins. This simulation is designed in such way, that it uses the same programming interface as the physical RoFI modules which allows to effortlessly transfer code between the physical modules and the simulation …more
 

Keywords

simulation RoFI GazeboSim RoFI HAL robots modular self-reconfigurable docking RoFICoM
 
Language used: English
Date on which the thesis was submitted / produced: 20. 7. 2020
Identifier: https://is.muni.cz/th/y1rvd/

Thesis defence

  • Date of defence: 23. 9. 2020
  • Supervisor: prof. RNDr. Jiří Barnat, Ph.D.
  • Reader: Mgr. Jan Koniarik

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Institution archiving the thesis and making it accessible: Masarykova univerzita, Fakulta informatiky
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Masaryk University

Faculty of Informatics

Bachelor programme / field:
Informatics / Mathematical Informatics

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