Author: Azmyin Md. Kamal Date: 09/09/2024 Version 1.0
This repository contains a ROS 2 enabled O3DE project to simulate a Curiosity Rover traversing on a 3D terrian inspired by NASA JPL's MarsYard testing fascility. It was part of submission of NASA Space ROS Summer Sim Spring Challenge 2024 #181
o3de_nasa.mp4
In my opinion O3DE based robot simulation has the following advantages and disadvantages
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Pros
- High fidelity rendering
- Accurate physics interactions
- Direct communication with ROS 2 middleware (unlike Gazebo that requires a briding package to bridge communication between it and ROS 2 middleware.)
- Python and Lua supported scripting for complex event programming
- A dedicated Terrain tool.
- Feature rich UI, rapdily traversable entity tree
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Cons
- 60+ GB diskspace requriements
- Documentations is fuzzy at best
- Pipeline for importing assets from Asset Generation Tools (Blender) is convoluted
- Hardware: About 70 - 80 GB free diskspace, NVIDIA GPU and 16Gb Ram
- ROS 2 Gem: https://github.com/o3de/o3de-extras/tree/development/Gems/ROS2
- Open 3D Engine version >=23.04
- MarsYard Gem: https://github.com/Mechazo11/MarsYardGem
- NasaCuriosityRover Gem: https://github.com/Mechazo11/NasaCuriosityRoverGem
- Build and run the Docker image in o3de_nasa_rover repository.
This project is no longer maintained. I have included some of my notes in the NOTES directory as additional materials. The SOME_IDEAS.md file contains some of the TODOs I was planning on doing if I were maintaining this project any further.
If you have any questions, concerns or comments don't hestiate to reaching out to me. My contact information is available in my homepage: https://mechazo11.github.io/.
This work is licensed under Apache License, Version 2.0. You may elect at your option to use the MIT License instead. Contributions must be made under both licenses.