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Packages Used
These are the few key packages that we use within the simulation stack
RViz is 3D visualization tool commonly used in robotics. It allows users to visualize various types of data generated by robots, such as sensor readings, robot poses, and trajectories. The user can configure displays, change perspectives, and interact with the visualized data to gain insights into the robot's behavior and surroundings.
Gazebo is a robotics simulator that provides a virtual environment for simulating robots and their interactions with the world. It offers things like a 3D physics engine, various sensors, actuators, and robot models. Gazebo allows us to develop and test algorithms, control strategies, and designs in a simulated environment before deploying them on physical robots.
Gazebo offers simulated data from a variety of sensors like cameras, IMUs and LiDARs. Sometimes, you may want simulation for specific sensors that our team uses. You can find packages on GitHub that simulates particular sensors. For example, we use the Velodyne Simulator repository to simulate our LiDAR.