災害対応ロボットシミュレータChoreonoidのROS連携機能

抄録

This paper describes ROS integration of the disaster response robot simulator“Choreonoid”. Choreonoid is an open-source robot simulator and ROS is a widely used middleware for robot software development. Integrating Choreonoid and ROS enables to develop disaster response robots quickly using rich software asset of ROS and without spending a large amount of time and money to build and repair robot hardware. The integration is done by adding a plugin to Choreonoid. The plugin publishes sensor information and other information such as absolute position/orientation of links as ROS topics, subscribe ROS topics to control joints and provides services such as pausing and unpausing simulations.