PEIS Home Simulator - Örebro universitet

1.3 Original objectives
The goal of the project was to develop a 3D simulator of the PEIS Home and of all the devices in it.
The simulator would use the Gazebo open-source 3D simulator for which devices and configuration
files specific for the PEIS home were to be developed.
The goal was to be achieved in a series of steps as follows:
1. Get familiar with the Gazebo development environment.
2. Create basic PEIS Home environment for Gazebo simulation (walls and furniture).
3. Add a PeopleBot to the simulation, configured in a way which is as close as possible to the
real PeopleBot used in the PEIS-Home.
4. Add ceiling cameras to the simulation, configured in a way which is as close as possible to
the real ceiling cameras mounted in the PEIS-Home.
5. Add the PEIS-fridge to the simulation. This will involve creating new devices and interfaces
in Gazebo for the fridge.
6. Write the documentation, in the form of: (a) comments in the code, and (b) final X-job
report. The documentation should be such as to allow a next student to take over and
develop the simulator further.
There were also a set of additional objectives defined. These objectives were to be considered and
possible implemented depending on time available given the progress in meeting the main
objectives.
• Adding a stereo camera mounted on the ceiling to the simulation.
• Adding an autonomous moving table (based on an AmigoBot 2 ) to the simulation.
• Adding a manipulator to procure drinks from the fridge.
• Writing a detailed "guide" to include new objects, robots and device in the simulator, to be
used by the next student(s) who will develop the simulator further.
2 http://www.activrobots.com/ROBOTS/amigobot.html
7