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Title
Japanese:ロボットシミュレータChoreonoidにおけるROS連携機能の強化 
English:Enhancing ROS Integration of the Robot Simulator Choreonoid 
Author
Japanese: 大西 祐輝, 田中 良道, 中岡 慎一郎.  
English: Yuki Onishi, Ryodo Tanaka, Shin'ichiro Nakaoka.  
Language Japanese 
Journal/Book name
Japanese:第22回計測自動制御学会 システムインテグレーション部門講演会予稿集 
English: 
Volume, Number, Page         pp. 650-654
Published date Dec. 15, 2021 
Publisher
Japanese: 
English: 
Conference name
Japanese:第22回計測自動制御学会 システムインテグレーション部門講演会 (SI2021) 
English: 
Conference site
Japanese: 
English: 
Abstract This paper presents new ROS integration functions of the robot simulator Choreonoid. As five years have passed since the first time Choreonoid and ROS were integrated, and some ROS functions have been significantly improved. The new functions presented in this paper have been introduced to follow the ROS improvement. The functions enable Choreonoid to work with an abstracted control framework called ros_control and to load robot models written in unified robot description format (URDF), which makes Choreonoid compatible with the other ROS-supported robot simulators.
Award Excellent Presentation Award

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