The Bioloid GP Robot with Different Configurations for Simulation in V-REP Controlled by the Robot Operating System (ROS)

The purpose of this paper focuses on the use of the Virtual Robotics Experimental Platform (V-REP) and the Robotics Operative System (ROS) to control and simulate different configurations of the Bioloid GP(Grand-Prix) robot. The V-REP simulator includes the full robot kinematic models and integrated sensors in different scenes. We present how to configure the V-REP and ROS to work in parallel. We developed software in python and C++ on ROS for easy simulation and control of the joints and sensors of the robot. The objective of this work is to provide open-source software architecture to the community with the Unified Robot Description Format (URDF) configurations, MoveIt configurations, the ROS packages of the communication, and the control of the Bioloid GP with the example scenes in V-REP simulator. Thanks to the modularity of ROS, developers are free to add algorithm modules to our software architecture to use the robot. Moreover, they can follow this work to configure other robots for other research topics.