用Unity和ROS 2打造虚实混合的机器人集群管理工具
VirTooS: A ROS 2 - Unity Virtualization Toolkit for Fleet Management of Autonomous Mobile Robots
- 基于ROS 2与Unity构建虚实融合仿真环境
- 支持真实与虚拟机器人协同任务分配与导航
- 提供容器化部署，适配多机实验场景
本文提出VirTooS，一个基于Python/C#的工具包，用于在自主移动机器人（AMR）集群中实现车队管理任务。该工具利用机器人操作系统（ROS）2与Unity游戏引擎，在混合现实环境中提供高保真、可扩展的虚拟实验。用户可便捷生成并自定义虚拟场景，使用虚拟或真实传感器（如激光雷达）进行环境建图与安全导航。为支持分布式机器人实验，我们引入基于ChoiRbot框架的定制化运行流程。以虚拟环境中的任务分配问题为例，展示了真实与虚拟机器人间的无缝交互。工具包配套容器化部署方案，可跨机器轻松部署。源代码将公开于GitHub。
原文摘要 · Abstract (English)
In this paper, we present VirTooS, a Python/C# toolkit designed to implement fleet-management tasks on teams of Autonomous Mobile Robots (AMRs). VirTooS leverages the Robot Operating System (ROS) 2 and Unity game engine to provide realistic, scalable virtual experiments in a mixed-reality environment. The toolbox allows users to easily generate and customize virtual scenarios for realistic simulations. Virtual and real sensors as, e.g., LiDARs, can be exploited to map and safely navigate in the mixed-reality environment. To enable distributed robotics experiments, we propose a set of tailored routines leveraging the ChoiRbot framework. As a motivating example, we show a set of experiments for task assignment problems in a virtual environment, allowing seamless interaction among real and virtual robots. Moreover, the package comes with a containerized suite to easily deploy it on different machines. The source code will be made publicly available on GitHub.
Thank you to arXiv for use of its open access interoperability. PaperDance 不是 arXiv 官方产品；中文卡片由大模型生成，请以原文为准。