Module 2: The Digital Twin
Introduction
Welcome to Module 2, where you'll discover the concept of Digital Twins and their crucial role in modern robotics and simulation.
Module Curriculum
We will focus on the two pillars of robotic simulation:
- Gazebo: A high-fidelity physics simulator that calculates gravity, friction, collisions, and sensor data.
- URDF (Unified Robot Description Format): The XML language used to describe what your robot looks like and how it moves.
Topics Covered
- Robot Simulation with Gazebo & URDF
- Gazebo Architecture: Physics engines (ODE, Bullet) and rendering.
- URDF Modeling: Links, Joints, Inertial tensors, and Visuals.
- XACRO: Making your robot models modular and reusable.
- Simulation: Spawning robots and bridging topics to ROS 2.
Prerequisites
- Completion of Module 1: Robotic Nervous System
- Basic understanding of 3D concepts
- Python programming skills
Getting Started
Digital Twins bridge the gap between the physical and virtual worlds. Let's explore how!