Ispitivanje simulatora heterogenih robotskih sustava s visokom razinom realizma

master's thesis

• Title (english): Analysis of photorealistic simulators for heterogeneous robotic systems
• Author: Karlo Rajković
• Mentor: Matko Orsag (mentor)
• Committee member: Matko Orsag (član povjerenstva)
• Committee member: Zdenko Kovačić (član povjerenstva)
• Committee member: Tamara Petrović (član povjerenstva)
• Granter: University of Zagreb; Faculty of Electrical Engineering and Computing; Zagreb
• Defense date and country: 2022-07-13, Croatia
• Scientific / art field, discipline and subdiscipline: TECHNICAL SCIENCES; Electrical Engineering

Abstract

Na početku rada prolazi se kroz najvažnije značajke Isaac Sim simulatora, sa dodatnim osvrtom na definiranje robotskog modela u simulatoru. Sve mogućnosti povezivanja s ROSom prikazane su na primjeru modela robota koji se sastoji od phr robota razvijenog u Gideonu te Franka robotske ruke. Koristeći postojeći Python API napisana je skripta u kojoj se između ostalog pokreće nova instanca simulatora, definiraju senzori na robotu i ažurira simulacija. Za završetak rada provedena je jednostavna robotska misija koja obuhvaća navigaciju mobilnim robotom te pokretanje robotske ruke sa MoveIt ROS paketom.

Abstract (english)

The work disseminated in this thesis starts with the explanation of the most important aspects of the Isaac Sim simulator, as well as showing in detail how to define a simulated robot model. All the things the simulator offers in regards to connecting it with ROS are shown on an example robot model that consists of a phr robot developed in Gideon and Franka robotic arm. Using the existing Python API a script was made which among other things is used for starting a new instance of the simulator, defining the robot sensors and updating the simulation. For the final part of the thesis a simple mission was conducted which incoporated navigating the mobile robot through the scene and controlling the robot arm using MoveIt ROS package.

• Keywords: Isaac Sim; Gazebo; fotorealizam; ROS
• Keywords (english): Isaac Sim; Gazebo; photorealism; ROS
• Language: croatian
• URN:NBN: urn:nbn:hr:168:983552
• Study programme: Title: Electrical Engineering and Information Technology; Study programme type: university; Study level: graduate; Academic / professional title: magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije (magistar/magistra inženjer/inženjerka elektrotehnike i informacijske tehnologije)
• Type of resource: Text
• File origin: Born digital
• Access conditions: Closed access
• Created on: 2023-01-14 09:49:42