Audonnet, F. P., Hamilton, A. and Aragon-Camarasa, G. (2023) A Systematic Comparison of Simulation Software for Robotic Arm Manipulation using ROS2. In: 22nd International Conference on Control, Automation and Systems (ICCAS 2022), BEXCO, Busan, Korea, 27 Nov-1 Dec 2022, pp. 755-762. ISBN 9788993215243 (doi: 10.23919/ICCAS55662.2022.10003832)
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Abstract
Simulation software is a powerful tool for robotics research, allowing the virtual representation of the real world. However, with the rise of the Robot Operating System (ROS), there are new simulation software packages that have not been compared within the literature. This paper proposes a systematic review of simulation software compatible with ROS version 2. The focus is research in robotics arm manipulation as it represents the most often used robotic application in industry and their future applicability to digital twins. For this, we thus benchmark simulation software under similar parameters, tasks and scenarios and evaluate them in terms of their capability for long-term operations, success at completing a task, repeatability and resource usage. We find that there is no best simulation software overall. Still, two simulation packages (Ignition and Webots) have higher stability than others while, in terms of resource usage, PyBullet and Coppeliasim consume less than their competitors.
| Item Type: | Conference Proceedings |
|---|---|
| Additional Information: | This research has been supported by EPSRC DTP No. 2605103 and NVIDIA Corporation for the donation of the Titan XP GPU. |
| Status: | Published |
| Refereed: | Yes |
| Glasgow Author(s) Enlighten ID: | Audonnet, Florent and Aragon Camarasa, Dr Gerardo |
| Authors: | Audonnet, F. P., Hamilton, A., and Aragon-Camarasa, G. |
| College/School: | College of Science and Engineering > School of Computing Science |
| ISSN: | 2642-3901 |
| ISBN: | 9788993215243 |
| Copyright Holders: | Copyright © ICROS |
| First Published: | First published in 2022 22nd International Conference on Control, Automation and Systems (ICCAS) |
| Publisher Policy: | Reproduced in accordance with the publisher copyright policy |
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