UsefulLinks
Computer Science
Robotics
Robot Operating System (ROS)
1. Introduction to ROS
2. Installation and Environment Setup
3. ROS Filesystem Structure
4. Core ROS Concepts and Architecture
5. ROS Command-Line Tools
6. ROS Client Libraries and Programming
7. Creating and Building ROS Packages
8. Launch Files and System Configuration
9. Visualization and Debugging Tools
10. Coordinate Frames and Transformations
11. Robot Modeling and Description
12. Simulation and Testing
13. Navigation and Path Planning
14. Manipulation and Control
15. Perception and Sensor Integration
16. Advanced ROS Topics
17. ROS Ecosystem and Community
18. Troubleshooting and Best Practices
12.
Simulation and Testing
12.1.
Simulation Overview
12.1.1.
Benefits of Simulation
12.1.2.
Simulation vs Reality
12.1.3.
Testing Strategies
12.2.
Gazebo Simulator
12.2.1.
Overview and Capabilities
12.2.2.
Physics Engines
12.2.3.
Rendering Systems
12.2.4.
Sensor Simulation
12.3.
Gazebo-ROS Integration
12.3.1.
ROS-Gazebo Plugins
12.3.2.
Message Interfaces
12.3.3.
Service Interfaces
12.4.
World and Model Files
12.4.1.
World Files
12.4.1.1.
Environment Definition
12.4.1.2.
Physics Configuration
12.4.1.3.
Lighting and Materials
12.4.2.
Model Files (SDF)
12.4.2.1.
Robot Models
12.4.2.2.
Object Models
12.4.2.3.
Model Composition
12.5.
Robot Spawning and Control
12.5.1.
Spawning Methods
12.5.2.
Initial Positioning
12.5.3.
Controller Integration
12.6.
Gazebo Plugins for ROS
12.6.1.
Sensor Plugins
12.6.1.1.
Camera Plugin
12.6.1.2.
LiDAR Plugin
12.6.1.3.
IMU Plugin
12.6.1.4.
GPS Plugin
12.6.2.
Actuator Plugins
12.6.2.1.
Joint Controllers
12.6.2.2.
Differential Drive
12.6.2.3.
Skid Steering
12.6.3.
Custom Plugin Development
12.7.
Simulation Best Practices
12.7.1.
Performance Optimization
12.7.2.
Realistic Modeling
12.7.3.
Testing Procedures
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13. Navigation and Path Planning