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CoCoSim: A Tool for Co-simulation of Mobile Cooperative Robots

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Software Engineering and Formal Methods. SEFM 2022 Collocated Workshops (SEFM 2022)

Part of the book series: Lecture Notes in Computer Science ((LNCS,volume 13765))

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Abstract

High-quality and efficient simulation is a critical component of robotics development and research. Currently, simulations for multi-robot systems are split across several independent tools, such as Gazebo for physics and mobility, ROS2 for software development, and ns-3 for communications and networking infrastructure. Those are mature, well-tested tools worth reusing that implement different modeling techniques, interfaces, and, more importantly, time-passing representation strategies; Gazebo uses fixed time steps and ns-3 discrete events. This article presents CoCoSim, a framework that integrates both simulators to allow multi-robot co-simulation, capable of running experiments that combine all the involved robotic systems. We show how the time synchronization and data exchange between the simulators that keeps a consistent state across them is achieved with minimal modifications to their original code.

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Notes

  1. 1.

    https://cocosim.pages.fing.edu.uy/homepage/en/.

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Acknowledgments

This work is partially supported by the project Co-simulación en Sistemas Ciber-Físicos funded by CSIC-UdelaR.

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Authors and Affiliations

  1. University of the Republic, Montevideo, Uruguay

    Matías Richart, Felipe Velázquez, Federico Ciuffardi, Jorge Visca & Javier Baliosian

Authors
  1. Matías Richart
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  2. Felipe Velázquez
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  3. Federico Ciuffardi
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  4. Jorge Visca
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  5. Javier Baliosian
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Corresponding author

Correspondence to Matías Richart .

Editor information

Editors and Affiliations

  1. National Institute of Aerospace, Hampton, VA, USA

    Paolo Masci

  2. University of Pisa, Pisa, Italy

    Cinzia Bernardeschi

  3. University of Urbino, Urbino, Pesaro-Urbino, Italy

    Pierluigi Graziani

  4. Gesellschaft zur Förderung angewandter, Berlin, Germany

    Mario Koddenbrock

  5. University of Pisa, Pisa, Italy

    Maurizio Palmieri

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Richart, M., Velázquez, F., Ciuffardi, F., Visca, J., Baliosian, J. (2023). CoCoSim: A Tool for Co-simulation of Mobile Cooperative Robots. In: Masci, P., Bernardeschi, C., Graziani, P., Koddenbrock, M., Palmieri, M. (eds) Software Engineering and Formal Methods. SEFM 2022 Collocated Workshops. SEFM 2022. Lecture Notes in Computer Science, vol 13765. Springer, Cham. https://doi.org/10.1007/978-3-031-26236-4_22

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  • DOI: https://doi.org/10.1007/978-3-031-26236-4_22

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-031-26235-7

  • Online ISBN: 978-3-031-26236-4

  • eBook Packages: Computer ScienceComputer Science (R0)

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