This page describes my research utilizing the Robot Operating System (ROS) software. ROS provides libraries and tools to help software developers create robot applications. It provides hardware abstraction, device drivers, libraries, visualizers, message-passing, package management, and more. Running sets of ROS-based processes are represented in a graph architecture where processing takes place in nodes that may receive, post and multiplex sensor, control, state, planning, actuator and other messages. ROS is completely open source (BSD) and free for others to use, change and commercialize upon.
Along with ROS, Gazebo is used for simulation. A well-designed simulator makes it possible to rapidly test algorithms, design robots, and perform regression testing using realistic scenarios. Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments.
Gazebo includes a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Also, Gazebo is free with a vibrant community.