A Tutorial on Modelling a Real Office Environment in Gazebo Simulator

抄録

Testing is a crucial aspect of robotic systems development. New robotic concepts should be proven to be safe and effective before running on real robotic platforms in real environments. Robotic simulation allows creating virtual environments and repeating real-world scenarios. 3D modelling has become a standard way for creating on-demand compound digital 3D models with a high level of realism. This research paper presents a guide on prototyping a real office environment in Gazebo simulator. Blender modelling suite is used for creating high-quality 3D models. The validation approach applied to the virtual environment is to perform lidar-based SLAM task for a mobile robot. Human-environment interaction tests were executed using extended Gazebo actors.