Yes, you can write ROS 2 code in your simulation project! O3DE with this Gem will respect your workspace overlays, handle simulation time, and supply useful components for common tasks such as publishing transform frames and applying namespaces. We have decided that robotic simulation enabled by this Gem will be based on modern ROS, and thus, no wrappers or bridges are needed. At Robotec.ai, we are developing the ROS 2 Gem in cooperation with AWS Game Tech. O3DE embraces the modular approach through Gems, optional extensions to the engine. You can read more about O3DE features in this guide and check its GitHub repository here. It is available under Apache 2.0 license and free to use for any purpose. O3DE is an open-source game and simulation engine governed by the Linux Foundation. With Unit圓D, there is an added issue due to C#, introducing a new competence requirement for a robotics team. They are, unlike ROS, closed source and have associated licensing costs. Game engines by default use bridges or wrappers for ROS communication, which introduces an additional layer to maintain and affects performance. Mapping out concepts between the ROS ecosystem and such simulation can be challenging. Unfortunately, from the perspective of a ROS developer, these game engines did not seem to get it quite right. They are typically used with robotic stacks based on ROS since it is best to replace the robot’s body and its environment with a simulation seamlessly. The most dominant ones are Unit圓D and Unreal Engine, and they are used for diverse types of simulations such as automotive, robotic arms, warehouse logistics, and other types of robotic applications. Performance, rendering, a library of assets, and ease of development are among the reasons why we see them applied to robotics. Game Engines for simulationĭespite limitations such as lower accuracy of physical simulation and limited control loop frequency, game engines are widely used for robotic simulation. One needs to focus on a dedicated model and plenty of precision, while the other aims to combine multiple elements crucial to the operation, demanding in terms of performance, such as sensor simulation, and vehicle dynamics.Īs with everything in engineering, it is important to pick the right tools for the job. For example, a high-fidelity simulation of robots’ tracks on rough, deformable terrain will have a conflicting set of requirements with a simulation of an operating fleet of agricultural robots. We should not think that “there can be only one”. Machine learning models for tasks such as detection can be trained on a mix of synthetic and real data.Īpplying simulation to each of these goals comes with its specific challenges, and there is plenty to learn about how to overcome them best. Simulation data is easier, cheaper, safer to obtain, and unconstrained by various limitations to the acquisition of real data. This is often done through validation scenarios, integrating with CI/CD for regression testing, providing dashboards with test results, etc. Simulation can be used to validate behavior and changes in the software stack. Thanks to simulation, teams can prototype faster, which is further enhanced using ROS. Development of robotics stack, including perception, planning, and varying degrees of autonomy.Typically, simulation serves one or more of the following goals: Picking the optimal solution for your use case might require quite some research and deliberation. There are many solutions on the market and in the open source. Simulation for robotics is a complex subject. We care about our simulation platforms and modules being well integrated with ROS to provide robotics and software engineers the best development experience. We benefit from using ROS in our projects and have contributed to its development. We worked with several engines and built simulation platforms on top of them.įrom the beginning, we also decided to work with modern ROS (ROS 2), the most important and quickly growing standard in robotics. Robotec.ai has been working on simulations for robotics since its inception. Robotics Open-source simulation for robotics with O3DE Our focus
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