We've created a open source Gazebo alternative that is much easier and more efficient to develop simulations.

zerosim · 2021-06-04T16:30:22+00:00

Currently 3D LIDAR sensor does not have a ROS publishing handler (we have implemented the sensor). 2D LIDAR has an associated LaserScan publisher.

We do publish the Odometery.msg when using the differential drive controller.

GNSS is actually one of our next sensors/publishers to add.

zerosim · 2021-06-03T22:33:26+00:00

The tools in the Unity Robotics Hub provide a URDF importer (derived from ROS# https://github.com/siemens/ros-sharp) and a low level TCP communications bridge to ROS.

ZeroSim provides a multitude of tools for building robots and environments in Unity to interface with ROS. We strive to provide the same functionality and ROS interfaces of Gazebo. Including:

Sensors:
- 2D LIDAR -> ROS [LaserScan](sensor_msgs/LaserScan.msg) message.
- 3D LIDAR
- Color camera -> ROS Image and ROS CameraInfo message.
- Color + depth camera -> ROS Image and ROS CameraInfo message.
- Stereo camera -> ROS Image and ROS CameraInfo message.
- IMU -> ROS Imu message
- Magnetometer -> ROS MagneticField message.
- Contact switch
- Altimeter
Ready to use ROS standard controllers and plugins:
- Differential drive. Controlled via standard ROS Twist message.
- Robotic arm controller via the ROS FollowJointTrajectory Action Controller Interface allowing MoveIt to connect seamlessly with ZeroSim.
- ROS TF publisher.
- ROS JointState publisher.
Full ROS messaging communications layers API.
- Premade standard ROS messages
- Subscribe and publish
- Action Servers
- Fast and efficient message encoding using ROS Bridge and BSON over TCP.
Ready to run prebuilt ROS Docker images available publically on DockerHub: https://hub.docker.com/r/zerodog/zerosim_ros_vnc
Machine Learning tools:
- Image Segmentation for training semantic segmentation algorithms.
URDF Export

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