Gazebo Physics Engine Wrapper

Current PR2 simulation is implemented through the Gazebo Project. Gazebo is a simulation interface wrapper around the physics engine (currently ODE) under the Player Project.

Simulation World

  • Simulated world environments can be found in directory worlds under the ros package gazebo_worlds.

Simulating Robots

  • We use URDF (uniform robot description format) to define objects and robots in simulation.

ROS Simulation Interface


Wiki: pr2_simulator/Overview (last edited 2010-01-22 00:10:28 by hsu)