WEBVTT 00:00.570 --> 00:04.050 The software developers for robotics application. 00:04.050 --> 00:11.490 Unlike their cousins, the software developers in web or mobile are not the typical developers that 00:11.490 --> 00:14.790 write and test their code using only APC. 00:15.660 --> 00:22.350 Indeed, in order to develop and test a robotic application, very often you need to test and to execute 00:22.350 --> 00:30.090 your code in a real robot and then evaluate how the robot behave when the new algorithm is being used. 00:30.630 --> 00:37.710 So in order to test and debug the code for a robotic application, very often it is not enough to insert 00:37.710 --> 00:44.340 some log messages in the code, but often some more visual information is needed about how the robot 00:44.340 --> 00:48.750 behaves when actuated with a new algorithm, for example. 00:49.710 --> 00:54.890 All of this debugging process is required to be executed on a real robot. 00:54.900 --> 01:01.440 And there is a significant cost, both from the point of view of the time invested in performing the 01:01.440 --> 01:08.250 test and also from the purely economic point of view, since you need to access to a real robot with 01:08.250 --> 01:10.650 a real hardware to test your code. 01:11.430 --> 01:17.940 In my opinion, this has been one of the reasons why the number of the software developers and hobbyists 01:17.970 --> 01:25.680 in the field of robotics is much smaller than the one in other fields such as mobile or web, because 01:25.680 --> 01:30.060 these fields do not require huge amounts of resources to get started. 01:30.060 --> 01:32.430 And you can do it simply using a PC. 01:33.590 --> 01:41.330 Of course, before investing money and time building or buying a real robot, you probably want to learn 01:41.330 --> 01:44.180 and to experiment and see how it works. 01:44.900 --> 01:51.650 To help the robotic software developers to speed up the debugging of their code, it is possible in 01:51.650 --> 01:53.930 Russia to model a robot. 01:53.960 --> 01:57.380 Namely, to define the structure of the robot. 01:57.380 --> 02:02.510 So its component and how they are connected and interact with each other. 02:03.330 --> 02:09.960 This model is the starting point for the visualization of the robot itself in order to better study 02:09.960 --> 02:13.710 its components and where to position its sensors. 02:14.470 --> 02:21.400 Also by creating a model of a robot, one can also decide to simulate it in a physics engine. 02:21.910 --> 02:29.080 This provides a copy of the robot inside your PC, which you can use not only to simulate the movements 02:29.080 --> 02:35.890 of the robot, but also to simulate the physical interactions between the robot and the surrounding 02:35.890 --> 02:36.790 environment. 02:36.970 --> 02:43.480 For example, it is possible to simulate physical forces such as the gravity that affects the robot 02:43.510 --> 02:46.900 or the friction with the floor, or also the collisions. 02:47.230 --> 02:55.420 It is even possible to simulate almost all the sensors such as laser scanners, sonar cameras and so 02:55.420 --> 02:55.840 on. 02:56.570 --> 02:58.730 This way with such a tool. 02:58.760 --> 03:05.870 Debugging a robotic application is dramatically simplified for students approaching the study of robotics. 03:05.900 --> 03:13.790 It is no longer required to use and purchase a real robot with real hardware in order to get started. 03:14.090 --> 03:20.420 In the same way, for the professional in this field, this is a very powerful tool to detect in advance 03:20.420 --> 03:26.930 any possible error or bug in their code that could damage a real robot or also the surroundings. 03:27.750 --> 03:33.720 In the following lessons we will see, which are these tools that are available in Ros2 that we can 03:33.720 --> 03:38.640 use to model our robot to visualize it, and also to simulate in our PC. 03:39.650 --> 03:45.770 Then we will create a model for our robotic manipulator and we will use it to simulate this robot in 03:45.770 --> 03:46.400 our PC.