Robot Operating System (ROS)

  1. Simulation and Testing
    1. Simulation Overview
      1. Benefits of Simulation
        1. Simulation vs Reality
          1. Testing Strategies
          2. Gazebo Simulator
            1. Overview and Capabilities
              1. Physics Engines
                1. Rendering Systems
                  1. Sensor Simulation
                  2. Gazebo-ROS Integration
                    1. ROS-Gazebo Plugins
                      1. Message Interfaces
                        1. Service Interfaces
                        2. World and Model Files
                          1. World Files
                            1. Environment Definition
                              1. Physics Configuration
                                1. Lighting and Materials
                                2. Model Files (SDF)
                                  1. Robot Models
                                    1. Object Models
                                      1. Model Composition
                                    2. Robot Spawning and Control
                                      1. Spawning Methods
                                        1. Initial Positioning
                                          1. Controller Integration
                                          2. Gazebo Plugins for ROS
                                            1. Sensor Plugins
                                              1. Camera Plugin
                                                1. LiDAR Plugin
                                                  1. IMU Plugin
                                                    1. GPS Plugin
                                                    2. Actuator Plugins
                                                      1. Joint Controllers
                                                        1. Differential Drive
                                                          1. Skid Steering
                                                          2. Custom Plugin Development
                                                          3. Simulation Best Practices
                                                            1. Performance Optimization
                                                              1. Realistic Modeling
                                                                1. Testing Procedures

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                                                              11. Robot Modeling and Description

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                                                              13. Navigation and Path Planning