Modelling and simulation of a mobile robot with ROS 2 in Unity 3D
DOI:
https://doi.org/10.17979/ja-cea.2025.46.12187Keywords:
field robotics, robotic technology, teleoperation, tele-roboticsAbstract
Simulation in robotics stands as an indispensable tool for the ongoing development of complex robotic systems, particularly in the field of dynamic unstructured environments—commonly known as field robotics—which demands high visual and physical fidelity. This enables the evaluation and refinement of algorithms, trajectory design, and prototype testing within virtual environments prior to real-world deployment, thereby reducing research costs. This work presents the development of a simulation model of the ARGO J8 mobile robot, owned by the Robotics and Mechatronics Group at the University of Málaga. The model is simulated in a virtual environment replicating the real conditions of the Laboratory and Experimental Area for New Technologies in Emergency and Disaster Intervention (LAENTIEC). ROS2 is used as the framework for modelling the robot’s structure and its main sensors: LiDAR, cameras, and integrated positioning system. Unity3D serves as the graphics engine, combining advanced visual representation with accurate physics, and is complemented by Google Earth data to recreate a scenario as realistic as possible. The work has been validated in simulations and is publicly available to the community in a repository (https://github.com/Robotics-Mechatronics-UMA/LAENTIEC-J8_ros2_unity).
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Copyright (c) 2025 Kellyn De Nóbrega-Buyón, Juan Jesus Fernandez Lozano, Ricardo Vázquez-Martín
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