MarsSim

Planetary-like environment in ROS Gazebo + Blender

Tested on Ubuntu 16.04 & Gazebo 8

Requires the Velodyne simulator for Gazebo: https://bitbucket.org/DataspeedInc/velodyne_simulator

Environments

• world.launch: spawn world generated from cropped martian DTM + added populations of rocks of various size
• actor_long.launch: spawn world and box with stereocamera and 3D LiDAR moving on a fixed closed path of ~300 meters
• actor_long_rocks.launch: as before, but this time more rocks are present, some of them are big boulders
• actor_short.launch: spawn world and box with stereocamera and 3D LiDAR moving on a short path of ~60 meters

References

This simulated environment is used in "Simulation Framework for Mobile Robots in Planetary-Like Environments", in IEEE International Workshop on Metrology for Aerospace, 2020. If you find it useful for your projects and research, consider to cite our paper using the following BibTeX:

@INPROCEEDINGS{giubilato2020simulation,
  author    = {R. Giubilato and A. Masili and S. Chiodini and 
               M. Pertile and S. Debei},
  booktitle = {2020 IEEE 7th International Workshop on Metrology 
               for AeroSpace (MetroAeroSpace)}, 
  title     = {Simulation Framework for Mobile Robots in 
               Planetary-Like Environments}, 
  year      = {2020},
}