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)


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.


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.


  1. 1.
    Akin, H., Ito, N., Kleiner, A., Pellenz, J., Visser, A.: Robocup rescue robot and simulation leagues. AI Magazine 34(1), 78–86 (2013)Google Scholar
  2. 2.
    Balaguer, B., Balakirsky, S., Carpin, S., Lewis, M., Scrapper, C.: USARSim: A Validated Simulator for Research in Robotics and Automation. In: IEEE/RSJ IROS 2008 Workshop on Robot Simulators: Available Software, Scientific Applications and Future Trends (2008)Google Scholar
  3. 3.
    Balakirky, S., Carpin, S., Lewis, M.: Workshop on robots, games, and research: Success stories in usarsim. In: Proceedings of the International Conference on Intelligent Robots and Systems, IROS 2009 (October 2009)Google Scholar
  4. 4.
    Balakirsky, S., Chitta, S., Dimitoglou, G., Gorman, J., Kim, K., Yim, M.: Robot challenge. IEEE Robotics Automation Magazine 19(4), 9–11 (2012)CrossRefGoogle Scholar
  5. 5.
    Balakirsky, S., Kootbally, Z.: USARSim/ROS: A combined framework for robot control and simulation. In: Proceedings of the ASME 2012 International Symposium on Flexible Automation, ISFA 2012 (June 2012)Google Scholar
  6. 6.
    Boeing, A., Bräunl, T.: Evaluation of real-time physics simulation systems. In: Proceedings of the 5th International Conference on Computer Graphics and Interactive Techniques in Australia and Southeast Asia. pp. 281–288. ACM (2007)Google Scholar
  7. 7.
    Carpin, S., Wang, J., Lewis, M., Birk, A., Jacoff, A.: High Fidelity Tools for Rescue Robotics: Results and Perspectives. In: Bredenfeld, A., Jacoff, A., Noda, I., Takahashi, Y. (eds.) RoboCup 2005. LNCS (LNAI), vol. 4020, pp. 301–311. Springer, Heidelberg (2006)Google Scholar
  8. 8.
    Cousins, S.: Is ros good for robotics? IEEE Robotics Automation Magazine 19(2), 13–14 (2012)CrossRefGoogle Scholar
  9. 9.
    Cousins, S., Gerkey, B., Conley, K., Garage, W.: Sharing software with ros. IEEE Robotics Automation Magazine 17(2), 12–14 (2010)CrossRefGoogle Scholar
  10. 10.
    Haber, A., McGill, M., Sammut, C.: Jmesim: An open source, multi platform robotics simulator. In: Proceedings of Australasian Conference on Robotics and Automation (December 2012)Google Scholar
  11. 11.
    Larochelle, B., Kruijff, G.J., Smets, N., Mioch, T., Groenewegen, P.: Establishing human situation awareness using a multi-modal operator control unit in an urban search & rescue human-robot team. In: 2011 IEEE RO-MAN, pp. 229–234 (2011)Google Scholar
  12. 12.
    Meyer, J., Sendobry, A., Kohlbrecher, S., Klingauf, U., von Stryk, O.: Comprehensive simulation of quadrotor uavs using ros and gazebo. In: Noda, I., Ando, N., Brugali, D., Kuffner, J.J. (eds.) SIMPAR 2012. LNCS (LNAI), vol. 7628, pp. 400–411. Springer, Heidelberg (2012)CrossRefGoogle Scholar
  13. 13.
    van Noort, S., Visser, A.: Validation of the dynamics of an humanoid robot in usarsim. In: Proceedings of Performance Metrics for Intelligent Systems Workshop, PerMIS 2012 (March 2012)Google Scholar
  14. 14.
    Okamoto, S., Kurose, K., Saga, S., Ohno, K., Tadokoro, S.: Validation of simulated robots with realistically modeled dimensions and mass in usarsim. In: IEEE International Workshop on Safety, Security and Rescue Robotics, SSRR 2008, pp. 77–82. IEEE (2008)Google Scholar
  15. 15.
    Pepper, C., Balakirsky, S., Scrapper, C.: Robot simulation physics validation. In: Proceedings of the 2007 Workshop on Performance Metrics for Intelligent Systems, PerMIS 2007, New York, NY, USA, pp. 97–104 (2007)Google Scholar
  16. 16.
    Quigley, M., Berger, E., Ng, A.Y.: et al.: Stair: Hardware and software architecture. In: AAAI 2007 Robotics Workshop, Vancouver, BC, pp. 31–37 (2007)Google Scholar
  17. 17.
    Quigley, M., Conley, K., Gerkey, B.P., Faust, J., Foote, T., Leibs, J., Wheeler, R., Ng, A.Y.: Ros: An open-source robot operating system. In: ICRA Workshop on Open Source Software (2009)Google Scholar
  18. 18.
    Takahashi, T., Nishimura, H., Shimizu, M.: Hinomiyagura team description paper for robocup 2013 virtual robot league (February 2013)Google Scholar
  19. 19.
    Taleghani, S., Shayesteh, M.H., Samizade, S., Sistani, F., Hashemi, S., Hashemi, A., Najafi, J.: Mrl team description paper for virtual robots competition 2013 (February 2013)Google Scholar
  20. 20.
    Wang, J., Lewis, M., Gennari, J.: A Game Engine Based Simulation of the NIST Urban Search and Rescue Arenas. In: Proceedings of the 2003 Winter Simulation Conference. vol. 1, pp. 1039–1045 (2003)Google Scholar
  21. 21.
    Wang, J., Lewis, M., Hughes, S., Koes, M., Carpin, S.: Validating USARSim for use in HRI Research. In: Proceedings of the Human Factors and Ergonomics Society 49th Annual Meeting. pp. 457–461 (2005)Google Scholar
  22. 22.
    Wyobek, K., Berger, E., der Loos, H.V., Salisbury, K.: Towards a Personal Robotics Development Platform: Rationale and Design of an Intrinsically Safe Personal Robot. In: Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Pasadena, CA, pp. 2165–2170 (2008)Google Scholar

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

Personalised recommendations