Simulation on the RCLL with Gazebo

Hands-on

• Get familiar with Gazebo and the RCLL simulation
• Start Gazebo with the RCLL world
• Start a game in the Refbox
• Spawn and move some models
• Add a new sensor to detect workpieces in the gripper
• Create a new model
• Adda ray sensor(similar to infrared-sensor)
• Attach the sensor-model to the robot
• Inspect the generated data with gz topic
• Write a Model plugin for the sensor-model
• Subscribe to the ray-sensor data
• Decide if there is a puck in the gripper
• Send detection result on a new topic(e.g. with a new Protobuf message)
• Build your own robot/li>
  • Start with the carologistics-robotino model and modify it
  • Add the robot to the world file