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Publication Citation: USARSim/ROS: A Combined Framework for Robotic Control and Simulation

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Author(s): Stephen B. Balakirsky; Zeid Kootbally;
Title: USARSim/ROS: A Combined Framework for Robotic Control and Simulation
Published: June 20, 2012
Abstract: The Robot Operating System (ROS) has been steadily gaining popularity among robotics researchers as an open source framework for robot control. The Unified System for Automation and Robot Simulation (USARSim) has been used for many years by robotics researchers and developers as a validated framework for simulation. This paper presents a new ROS node that is designed to seamlessly interface between ROS and USARSim. It provides for automatic configuration of ROS transforms and topics to allow for full utilization of the simulated hardware. The design of the new node as well as examples of its use for mobile robot and robotic arm control are presented.
Proceedings: Proceedings of the ASME 2012 International Symposium on Flexible Automation (ISFA 2012)
Pages: 8 pp.
Location: St. Louis, MN
Dates: June 18-20, 2012
Keywords: USARSim; ROS; Simulation; Autonomous control; Combined framework
Research Areas: Simulation, Collaborations, Metrology and Standards for Manufacturing Equipment, Robotics, Academic, Manufacturing, Metrology
PDF version: PDF Document Click here to retrieve PDF version of paper (4MB)