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Enabling Codesharing in Rescue Simulation with USARSim/ROS

  • Zeid Kootbally
  • Stephen Balakirsky
  • Arnoud Visser
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 8371)

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 inside the RoboCup Rescue Simulation League are presented.

Keywords

Mobile Robot Game Engine Virtual Robot Robot Operating System Game Server 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag Berlin Heidelberg 2014

Authors and Affiliations

  • Zeid Kootbally
    • 1
  • Stephen Balakirsky
    • 2
  • Arnoud Visser
    • 3
  1. 1.Department of Mechanical EngineeringUniversity of MarylandCollege ParkUSA
  2. 2.Georgia Tech Research InstituteAtlantaUSA
  3. 3.Intelligent Systems Laboratory AmsterdamUniversiteit van AmsterdamAmsterdamThe Netherlands

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