New Features Implementation for Servosila Engineer Model in Gazebo Simulator for ROS Noetic

Abstract

Virtual experiments play an important part in robotics allowing to reproduce complex environments, perform complicated and risky tasks.Yet, a virtual model is not always a one-time build action and it requires revisions in a timely manner as operating systems and dependent software evolves.This article presents a number of technical updates of the Servosila Engineer crawler type robot virtual model.The model evolution necessity was caused by a migration from an outdated robot operating system (ROS) of Melodic version to the modern ROS Noetic version.In addition to migration issues, for the robot virtual model a new onboard torch control unit and a robot head aligning unit were developed.