Benutzer:Wuerzigfrisch/Gazebo 3D-Roboter-Simulator

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Vorlage:Short description Gazebo ist ein open-source 3D-Robotik-Simulator. Dieser nutzt eine Physik-Engine sowie den OpenGL-Standard und bietet Erweiterungen zur Simulation von Sensorik und Aktoren von stationären und mobilen Roboterplattformen.

Gazebo erlaubt die Nutzung verschiedener Physik-Engines wie ODE, Bullet und DART. Die Computergrafik beinhaltet die dreidimmensionale Abbildung von Licht und Schatten sowie Oberflächentexturen. Virtuelle Sensoren können die Umgebung entsprechend eines vorgegebenen Sensormodells, wie LiDAR-Sensor, Kamera, Kinect usw., perspektivisch vermessen.[1] Als 3D-Engine wird OGRE eingesetzt.[2]

Development history

Gazebo was a component in the Player Project from 2004 through 2011. In 2011, Gazebo became an independent project supported by Willow Garage. In 2012, Open Source Robotics Foundation (OSRF) became the steward of the Gazebo project.[3] OSRF changed its name to Open Robotics in 2018.[2]

Gazebo's latest and last major release is version 11, a long-term support release with end-of-life planned for January 2025.[4] All previously released versions of Gazebo also received long-term support, with minor updates being released for Gazebo 9 and 10 together with the release of Gazebo 11.0.0.[5] With Gazebo 11 being released in January 2020, Open Robotics shifted its focus to developing Ignition, a "collection of open source software libraries designed to simplify development of high-performance applications", with a target audience of robot developers, designers, and educators.[3] The first version of Ignition was released on February 2019.[3] Ignition's website refers to the standalone Gazebo simulator as Gazebo Classic in order to disambiguate it from Ignition Gazebo, the Gazebo simulator that is now included in the latest releases of Ignition. Open Robotics mentioned the need for significant modernization in Gazebo's code, together with the opportunity to move from a monolithic architecture to a collection of loosely coupled libraries.[3]

Competitions

Gazebo has been used as the simulation environment for a number of technology challenges and competitions.

DARPA Robotics Challenge (DRC)

2012 to 2015

  • The DRC was a prize competition funded by the US Defense Advanced Research Projects Agency. It aimed to develop semi-autonomous ground robots that could do "complex tasks in dangerous, degraded, human-engineered environments."
  • The simulation stage, the Virtual Robotics Challenge, took place June 17–21, 2013[6] and was won by Team IHMC, Institute for Human and Machine Cognition, Pensacola, Fla.[7]
  • Link to simulation environment at https://bitbucket.org/osrf/drcsim

NASA Space Robotics Challenge (SRC)

2016 to 2017

  • The National Aeronautics and Space Administration (NASA) Space Robotics Competition tasks teams with developing and displaying the ability of an R5 (Valkyrie) robot to assist in the procedures of a NASA mission, such as one to Mars, offering a $1 million prize pool.[8]
  • NASA selected 20 finalist teams based on their performance completing some tasks in the Gazebo 3D robot simulator, and each of those finalists had to program a Valkyrie humanoid to complete a repair mission on a simulated Mars base.
  • The winner of the SRC was team Coordinated Robotics.[9]
  • Link to simulation environment at https://bitbucket.org/osrf/srcsim

Toyota Prius Challenge

2016 to 2017

  • The Prius Challenge is a competition where participants battle it out to see who can achieve the best fuel economy and efficiency rating on a Prius within a target time range. Toyota Research Institute (TRI) welcome competitors to the event at Sonoma (CA) Raceway on March 3, 2017
  • Open Robotics created a Gazebo-based simulation environment for the competition in which teams practiced and tested theories and strategies for the race-day competition
  • Twenty teams competed in the event, which was won by Echo 12 with an average of 85 mpg and the winner for the best overall lap was Team El Diablo[10] with 211 mpg[11]
  • Link to simulation environment at https://bitbucket.org/osrf/priuscup/src/default/
  • Link to Prius Challenge at https://www.openrobotics.org/customer-stories/prius-challenge

Agile Robotics for Industrial Automation Competition (ARIAC)

2016 to 2020

The National Institute of Standards and Technology (NIST) put on the first ARIAC Competition in June 2017.[12] The goal of the competition was to test the agility of industrial robot systems, with the goal of enabling industrial robots on the shop floors to be more productive, more autonomous, and to require less time from shop floor workers.

  • First place in the 2017 ARIAC competition was won by Realization of Robotics Systems, Center for Advanced Manufacturing, University of Southern California.[13]
  • First place in the 2018 ARIAC competition was won by Team Sirius, Denbar Robotics.[14]
  • First place in the 2019 ARIAC competition was won again by Team Sirius, Denbar Robotics.[15]
  • First place in the 2020 ARIAC competition was won again by Team Virsli, Budapest University of Technology and Economics (BME VIK TMIT), HSN Lab, Cloud Robotics Group .[16]
  • Simulation environment at https://bitbucket.org/osrf/ariac/wiki/Home

DARPA Service Academy Swarm Challenge (SASC)[17]

2016 to 2017

  • DARPA created the Service Academies Swarm Challenge to help make effective unmanned aerial vehicle (UAV) swarm tactics a reality. The Challenge is a collaboration between DARPA and the three U.S. military Service academies—the United States Military Academy, the United States Naval Academy and the United States Air Force Academy.[18]
  • The U.S. Naval Academy was declared the winner of the competition[19]
  • Simulation environment at https://github.com/osrf/uctf

DARPA Subterranean Challenge (SubT)

2018 to 2021

  • The DARPA Subterranean or “SubT” Challenge seeks novel approaches to rapidly map, navigate, and search underground environments during time-sensitive combat operations or disaster response scenarios.[20]
  • Teams in the Virtual track will compete for up to $1.5 million in the Virtual Final event, with additional prizes of up to $500,000 for self-funded teams in each of the Virtual Circuit events.
  • Simulation environment at https://bitbucket.org/osrf/subt/wiki/Home

Virtual RobotX Competition (VRX)

2019

  • The VRX is an international, university-level competition funded by the Office of Naval Research (ONR) and designed to broaden student’s exposure to autonomy and maritime robotic technologies. Student teams will operate their vehicle in a Gazebo-based simulation environment built by Open Robotics and Naval Postgraduate School. Students will be tasked to develop innovative solutions to ensure their virtual USV can perform prescribed tasks in this environment. Tasks for this competition have been derived from RoboNation’s Maritime RobotX Challenge.[21]
  • The competition is scheduled for December 2019.
  • Project source code available at https://github.com/osrf/vrx

References

  1. ↑ Evan Ackerman: Latest Version of Gazebo Simulator Makes It Easier Than Ever to Not Build a Robot. In: IEEE Spectrum . IEEE. 4. Februar 2016.
  2. ↑ a b Gazebo. In: Gazebo Simulator . Archiviert vom Original am 16. Januar 2018. Abgerufen am 24. März 2019.
  3. ↑ a b c d About - Ignition Robotics. In: ignitionrobotics.org . Abgerufen am 5. April 2022.
  4. ↑ Gazebo : Blog : Ignition Acropolis Release. In: gazebosim.org . Abgerufen am 4. April 2022.
  5. ↑ Gazebo : Blog : Gazebo 11.0.0 release. In: gazebosim.org . Abgerufen am 5. April 2022.
  6. ↑ Gazebo Simulator for DARPA Virtual Robotics Challenge. In: YouTube . DARPA. 4. Februar 2016. Abgerufen am 3. Juni 2013.
  7. ↑ Darren Quick: DARPA Announces Winners of Virtual Robotics Challenge. In: New Atlas . 28. Juni 2013. Abgerufen am 3. Juni 2013.
  8. ↑ NASA Space Robotics Challenge. In: NASA . 28. Juni 2013. Abgerufen am 3. Juni 2013.
  9. ↑ Evan Ackerman: How a One-Man Team From California Won NASA's Space Robotics Challenge. In: IEEE Spectrum . 11. Juli 2017.
  10. ↑ The "El Diablo" 211 MPG lap of Sonoma Raceway at Prius Challenge. In: Toyota Research Institute . 4. März 2017.
  11. ↑ Making the Prius Challenge. In: Brian Ghidinelli . 30. Juli 2017.
  12. ↑ Agile Robotics for Industrial Automation Competition. In: NIST .
  13. ↑ Evan Ackerman: ARIAC Finals results announced. In: Open Robotics . 5. Juli 2017.
  14. ↑ ARIAC 2018 Finals results announced. In: Open Robotics . 1. Juni 2018.
  15. ↑ 2019 NIST ARIAC Challenge. In: NIST .
  16. ↑ 2020 NIST ARIAC Challenge. In: NIST .
  17. ↑ Service Academies Swarm Challenge. In: DARPA .
  18. ↑ An Overview of DARPA's Service Academies Swarm Challenge. In: YouTube . 23. April 2017.
  19. ↑ Service Academies Swarm Challenge Pushes the Boundaries of Autonomous Swarm Capabilities. In: DARPA . 11. Mai 2017.
  20. ↑ Timothy Chung: DARPA Subterranean (SubT) Challenge. In: DARPA .
  21. ↑ VRX Competition (VRX). In: RoboNation .

External links

[[Category:Open Robotics]] [[Category:Free software projects]] [[Category:Robotics simulation software]] [[Category:Free software programmed in C++]] [[Category:Software using the Apache license]]

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