Integracija robotskog operativnog sustava u IsaacSim virtualnom okruženju

undergraduate thesis

• Title (english): Integration of the Robot Operating System in the IsaacSim virtual environment
• Author: Marija Maček
• Mentor: Marko Švaco (mentor)
• Granter: University of Zagreb; Faculty of Mechanical Engineering and Naval Architecture; Zagreb
• Defense date and country: 2023-03, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Mechanical Engineering; Production Mechanical Engineering

Abstract

Zadatak ovog rada je integracija robotskog operativnog sustava (ROS) u IsaacSim virtualnom okruženju. U prvom dijelu rada dan je pregled simulacijskih okruženja IsaacSim i Gazebo te njihova usporedba. Zatim su objašnjeni principi ROS-a i njegova integracija u virtualnim okruženjima, konkretno IsaacSim-u. Nakon toga dan je pregled mobilnih robota i njihovih primjena.
U radu je stavljen fokus na integraciju ROS-a u IsaacSim na način da se iz ROS čvorova upravlja mobilnim robotom diferencijalne kinematike. Na mobilnog robota dodani su potrebni senzori za mapiranje prostora. Implementacijom algoritma mapiranja izrađena je karta okupiranosti Regionalnog centra izvrsnosti za robotske tehnologije (CRTA) čiji model je napravljen u Autodesk Inventor-u.

Abstract (english)

The task of this paper is to integrate the Robot Operating System (ROS) into the IsaacSim virtual environment. The first part of the paper provides an overview of the simulation environments IsaacSim and Gazebo and their comparison. Then, the principles of ROS and its integration into virtual environments, specifically IsaacSim, are explained. After that, a review of mobile robots and their applications is given.
The paper focuses on integrating ROS into IsaacSim in a way that the differential drive mobile robot is controlled from ROS nodes. The necessary sensors for mapping the space are added to the mobile robot. By implementing a mapping algorithm, an occupancy map of the Regional Center of Excellence for Robotics Technologies (CRTA), whose model was made in Autodesk Inventor, was created.

• Keywords: sim-to-real; IsaacSim; ROS (Robotski operativni sustav); mobilni robot; mapiranje prostora
• Keywords (english): sim-to-real; IsaacSim; ROS (Robot Operating System); mobile robot; mapping
• Language: croatian
• URN:NBN: urn:nbn:hr:235:022286
• Study programme: Title: Mechanical Engineering; Study programme type: university; Study level: undergraduate; Academic / professional title: sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva (sveučilišni/a prvostupnik/ prvostupnica (baccalaureus/baccalaurea) inženjer/inženjerka strojarstva)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Open access
• Created on: 2023-02-24 09:26:09