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espanolEl manipulador movil compuesto de la plataforma Turtlebot2 y el brazo Widow-X supone una solucion de bajo coste muy interesante para laboratorios docentes y de investigacion. Lamentablemente, el conjunto no dispone de un simulador completo en el popular framework de programacion ROS; tampoco el fabricante ofrece el modelado cinematico del brazo. En este articulo se describe el trabajo realizado sobre ambas cuestiones para nuestro robot CRUMB, y como se han implementado en Gazebo, un simulador realista para ROS donde tambien se ha anadido la posibilidad de incluir ruido sensorial simple, algo que la mayoria de los simuladores no ofrecen. Se incluyen tambien algunos experimentos de manipulacion y navegacion que demuestran las posibilidades de nuestro trabajo. EnglishThe combination of a Turtlebot2 mobile platform with a Widow-X robot-arm offers an interesting low-cost solution for research, teaching, or generic educational purposes. Unfortunately, neither does this hardware combination have a complete simulator in the robot programming framework ROS, nor does the manufacturer o er a kinematic model of the robotic arm. In this article we propose a solution for both issues related to our mobile manipulator. Besides, we describe how robot simulation was developed in Gazebo, a realistic simulator integrated with ROS, and the possibility to include simple sensor-noise, which is not always available on most simulators. Finally, we demons trate the applicability of our simulator by means three experiments that involve pickand-place, mapping, and navigation tasks.

Modelado cinemático y simulación realista del manipulador móvil de bajo coste Turtlebot2 + Widow-X en ROS