This repository is part of a bachelor thesis about the simulation of sensors using Gazebo.
In Gazebo it is possible to create objets like cubes, cylinders or bullets. It's possible to combine them to complex objects.
To test the navigation of robots in closed rooms, various scenarios can be created using the integrated wall editor.
The TurtleBot3 is a mobile robot platform developed by ROBOTIS. This robot is optimal for education because of its flexibility in mounting sensors on it.
The TurtleWorld is a predefined simulation environment with walls and objects. This world is perfect to test the usage of different sensors for navigation.
In Gazebo it is possible to test sensors from different manufacturers. Due to the large community, there are already created 3D models for many different sensors.
Gazebo can visualize the laser beams of LiDAR sensors to show how a robot can see it's environment. The collected data can used in ROS to navigate the robot.
The popular Microsoft Kinect and Intel RealsSense R200 cameras are aviable as 3D models for simulation. They can be used for depth measurements.
