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Robot creation Help - swarm robotics simulation. I need to simulate my robot in gazebo

asked 2016-01-08 11:53:49 -0500

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Hi everyone,

I am new to Gazebo and I am attempting to simulate an e-puck like robot in gazebo inorder to do swarm robotics simulations. I am quite confused on where to get started. I have gone through most of the tutorials and am still lost. I cannot seem to find a place to program an object, even a cube in an event driven type of way. Also I would like to attach sensors to this cube and for right now do basic obstacle avoidance by receiving information back from the sensor. I have no idea on how to do that. any suggestions? Thanks again


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Hi ELi, I face the same problem like yours now. I'm a beginner in Gazebo and e-pucks too (thought not many people are using e-pucks now....) How's your progress? Have you got something work? Let's get contact if interested:

James Zhang gravatar imageJames Zhang ( 2016-03-07 16:21:23 -0500 )edit

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answered 2016-01-08 22:27:22 -0500

updated 2016-01-08 22:28:05 -0500

Hi! Welcome to the gazebo sim answers forum.

To control your epuck, or even a simple cube, you first need to create an SDF. That SDF will describe the appearance and physics properties of your robot. It also describes which sensors are on the robot, and what settings they use. Here's a tutorial on making a simple robot:

Building a Two Wheeled Robot

Those sensors will publish information on gazebo topics. You can then use plugins that use sensor information, or other information about the robots location/properties to act on the robot.

Here is a bunch of tutorials on plugins

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Asked: 2016-01-08 11:53:49 -0500

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Last updated: Jan 08 '16