Robot simulation is an essential tool in every roboticists toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, and perform regression testing using realistic scenarios.

Gazebo simulation mara

Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Best of all, Gazebo is free with a vibrant community.

Gazebo logo

This section explains how to use ROS 2.0 and Gazebo simulator as the external simulator for MARA. The main characteristics of the simulation are:

  • Simplified ROS/Gazebo simulation launch, fully configurable

Compatible with ROS 2.0. This simulation includes:

  • Same topics, services, actions, parameters of the real MARA
  • RVIZ2 visualization
  • TF