I want to create a simulator that simulates a behavior of heterogeneous multi-robot system, what is the most interesting Open Source environments allowing that? I have Heard about Morse, and Gazebo, are there interesting?
In my experience, Gazebo is definitely interesting, and it is starting to be quite popular among robotic researchers (this means you might find many robots, actuators and sensors models available). Gazebo is good for 3D simulations, and also the dynamic aspects are simulated relatively well (e.g. interaction forces, friction). If you need only a 2D simple environment (let's say, for swarms of mobile robots), you can also try Stage.
i hope that the following attachment will give you some eclairecissement
Gazebo is quite developed, open-source, and has a interface with ROS and a large and active community.
You can also go with Webots: https://www.cyberbotics.com/
I would go with either Gazebo or V-Rep, both are by far the most popular, allow ROS integration and have good support and wide arrange of robots and features.
I would recommend reading this analysis between both tools.
http://www.dca.fee.unicamp.br/~gudwin/courses/IA889/2014/IA889-02.pdf
You can try ARGoS (http://www.argos-sim.info/). I am the main designer and developer. ARGoS is used by lots of universities across the world. It is designed for generic physics-based simulation of large-scale heterogeneous robot swarms (hundreds/thousands of robots). In comparison, Gazebo/V-REP/Webots do not scale above a few robots, and Stage is more limited (i.e., only kinematics, no noise) and often slower. ARGoS is also much easier to use than any of the above simulators, due to the simplicity of its control interface.
ARGoS does not have a ROS interface, but it would be easy to add one. The simulator can be used both with a GUI and without, which makes it easy to execute thousands of runs on a cluster. It's also easy to embed it into another program, such as an evolutionary algorithm. ARGoS is open source, hosted on GitHub.
In my experience, MORSE is a good option. You can interface with ROS and there are a community of developers to help you
Hi, According to me as per my past experience, ROS with Gazebo is one of the best options. Which are open source and best for multi-robot system. However, I'm not sure for which purpose you are asking about like path planning or else.
V-Rep is quite useful and one can use that with ROS. Coppelia Robotics has a demo video you can check out https://www.youtube.com/watch?v=bwGYUayglHY. V-Rep has APIs in different programming languages and you can use directly LUA scripting in the stand-alone software.
Gazebo will also work but you need to be familiar with SDF and URDF files to create a multi-robot simulation. There is a sample in gazebo-ros with two of P3Dx. You can use that as a boilerplate. Nevertheless, it may not be that straightforward.
There are other simulation tools -or even game engines- but they aren't as developed as V-Rep or Gazebo for robotics applications in between other (free) open-source alternatives.
Hi
I'm currently also looking for a multi-robot simulation framework. As the last comment here is already older than a year, I thought there might be some development. Also due to the fact, that Webots became OpenSource. The two best looking options I currently see are Webots and a framework based on Gazebo, presented here https://www.fawkesrobotics.org/projects/rcll-sim/
Any other recommendations?
Hi Akli, What do you mean when you mention that the last versions are dependent on the graphic card and the operating system?
I have Windows or Ubuntu OS.
As a summary, people have mentioned: Morse, Gazebo, V-REP, Webots, MRDS
We have simulated 16+ drones, and a mix of drones and vehicles for this iCRA 2020 paper using Gazebo. https://www.youtube.com/watch?v=47st8zUDd54&t=7s
You can find out more and download the software.
https://arxiv.org/pdf/1910.01557.pdf
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