在RoboCup中集成Gazebo和ROS技术用于机器人研究与开发

基于ROS与Gazebo的机器人足球仿真系统设计与实现

Abstract —Originated from Robot World Cup Middle Size League (RoboCup MSL), this paper discusses the design and implementation of a robot soccer simulation system based on ROS and Gazebo. Its aim is to test multi-robot collaboration algorithms. After building the Gazebo models, a model plugin is written to realize the robot’s basic motions including omnidirectional locomotion, ball-dribbling and ball-kicking. To integrate the model plugin with the real robot code, ROS nodes related to low-level controllers are replaced with the model plugin. In addi