Design And Research Of Robotic 3D Simulation Platform Based On ROS

Along with the robot being more and more intelligent, research in the robotics field is also becoming complex. As a result, the demand of code for modularization and reusability is increasing to simulation. ROS(Robot Operating System), which is open source and distributed, offers a possibility to the demand. In this thesis, a 3D platform with modular, reusable and distributed functions is proposed. The platform can be highly integrated in ROS, making the best of the software in ROS. In a word, the platform can provide good augment ability, stability, universality and code reusability.Firstly, the thesis analyzes the structure and operating mechanism of Robot Operating System. After this, the thesis design a C/S frame for the 3D simulation platform based on the distributed ROS. In the C/S frame, there are server and client. Server provides physics engine and can be used to build model. Client is divided into two parts:3D display client and ROS nodes client.3D display is to render and display the scene, and ROS nodes client is designed to control the robot in the scene.Subsequently, the key technology of 3D display is researched, and a modified algorithm is proposed in order to increase the speed of rendering and display. The thesis comes up with an algorithm of real-time blanking based on ray casting and OBB bounding volume hierarchies. The experiments show that the algorithm is much quicker than the algorithm without OBB bounding volume hierarchies.Thirdly, according to the design and structure of the platform, the thesis brings Bullet physics engine, camera sensor, ray sensor to server. Moreover, server can parse and save URDF model file.3D display client uses OGRE to render the scene. The communication between server and client is realized based on Protocol Buffer and TCP/IP protocol.Finally, the 3D simulation platform for robot is verified and tested through experiments. The platform conducts experiments of KUKA youbot mobile manipulator, reconstruction based on binocular vision, distributed wheeled football platform. The experiments analyze the credibility, real time, symbol error rate of data transmission and integration with ROS. All of them prove the liability, practicability and reasonability of the 3D simulation platform.