1 Rosetta and Gazebo: Simulating Robots A CE Project Robotics Institute, Carnegie Mellon September 12, 2007

2 Gazebo Physics-based simulator Robots represented as models User writes models for new robots  Defines geometric bodies  Creates joints

3 Interfacing with Gazebo Gazebo interfaces via shared memory Need our system to talk to Gazebo Our system uses serial to talk to robots…

4 Software Architecture with Robots

5 Software Architecture for Simulation

6 Rosetta in a Nutshell Rosetta sits between low-level controllers and Gazebo Translates incoming serial commands into shared memory commands for Gazebo

7 How Rosetta Works Rosetta “spoofs” a serial port  Creates a file on the computer, not really a serial port We tell low-level controller programs to use the fake port  Each program has config file; says which serial port robot is on  We change config file to use spoofed serial port Rosetta reads from fake port  Parses commands as if it were the real robot  Sends commands to Gazebo instead