Implementation of a unified simulation for robot arm control with object detection based on ROS and Gazebo
- Resource Type
- Conference
- Authors
- Jung, Hyeonchul; Kim, Minseo; Chen, Yeheng; Min, Hyung Gi; Park, Taejoon
- Source
- 2020 17th International Conference on Ubiquitous Robots (UR) Ubiquitous Robots (UR), 2020 17th International Conference on. :368-372 Jun, 2020
- Subject
- Robotics and Control Systems
Manipulators
Object detection
Cameras
Robot vision systems
Collision avoidance
- Language
In this paper, we present a method to implement a robotic system with deep learning-based object detection in a simulation environment. The simulation environment is developed in Gazebo and run on Robot Operating System(ROS). ROS is a set of open-source software libraries that aims to simplify the task of creating complex and robust robot behavior across a wide variety of robotic platforms. Gazebo is the convenient 3D simulator for use along with ROS. This paper introduces the steps to create a robot arm system controlled by ROS and object detection system using images from camera in Gazebo environment.