In this chapter, we mainly replicated things already done in the previous chapter with Gazebo, using another simulator: V-REP. V-REP is a multi-platform simulation software that integrates different technologies and is very versatile. With respect to Gazebo, V-REP could appear easier to use for new users.
In this chapter, we simulated two robots, one imported using the URDF file of the seven-DOF arm designed in previous chapters, and the other was a popular differential wheeled robot provided by V-REP simulation models. We learned how to interface and control robot joints of our model with ROS and how to move a differential drive mobile robot using topics. In addition, we discussed how to add different type of sensors in our simulation scene, improving the equipment of the simulated mobile robot with a laser and a 3D vision sensor. Finally, we discussed how to connect a rgb-d sensor simulated in V-REP with the ROS framework.
In the next chapter, we will see how to interface the robotic...
