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This wiki is intended to teach the basics of robot simulation in ROS so that any ARV member can gain sufficient knowledge and create simulation models for future robots.
There are six subteams in ARV with 3 subteams directly working on software. When there are 60 members and one robot, it is clear that everyone can not work on the robot at the same time. Furthermore, running untested code on the physical robot can be dangerous. What if the robot has a bug that makes the robot drive full speed towards a person? We need a way for us to test our code safely and visualize the results.
How can we solve these problems? Simulate it! If we have a model of our robot and an engine that mimics real life physics, we can test all of our code safely. Furthermore, simulation allows the team to work on the robot whenever they want, and wherever they want. Fortunately, most of the heavily lifting is done for us. There are physics engine and sensor simulation packages that people have written for us already. All we have to do is create the robot model and give it appropriate parameters.