PowerPoint Presentation

: . 2013,

PANDORA

PANDORA ROS

: PANDORA

:

PANDORA robot: .

: RoboCup Rescue.

: .

ROS (Robot Operating System)

, topics, messages, services bags topics services.

Blender

Python Scripting 3D

Ogre 3d

C++ rendering ( 3D 2D)

Blender

Ogre 3d:

C++ Rendering

3D

Gazebo

Multi-robot 3D ROS

Player/ Stage

Multi-robot 2D ROSV-Rep

Multi-robot 3D ROS

Gazebo

1 Gazebo vs Stage:

3D Gazebo

2 Gazebo vs V-Rep:

V-Rep

Gazebo SDF (Simulator Description Format)

: , , Plugins : (links), joints, , PluginsLinks: Joints: Links (parent-child): , , Plugins: (world),

SDF

1 : Blender

2 :

3 :

link collision element visual element joints ( link) plugins

PANDORAs SDF

8 Links Sonar Laser (hokuyo) 7 JointsSonar_jointHokuyo_jointBase_armLower_armUpper_armBase_headHead1 Plugin laser sonar

(Arenas)

Hector_nist_arena_designer

Gazebo

(Arenas)

(1)

(2)

(3) (Slam)

(Sonar, IR)

Gazebo

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:. . , . PANDORA