Module 2: Digital Twins - Gazebo & Unity Simulation
Weeks 6-7 | Physics-Based Robot Simulation
Simulation environments allow you to test and validate robot behaviors safely before deploying to physical hardware. This module covers Gazebo for physics-based simulation and Unity for high-fidelity visualization, teaching you to create digital twins of humanoid robots.
Learning Objectives
After completing this module, you will be able to:
- Set up and configure Gazebo simulation environments for robot testing
- Create accurate robot models using URDF and SDF formats
- Simulate realistic physics, sensors, and environmental interactions
- Integrate Unity for advanced visualization and robot interaction
- Connect ROS 2 with simulation environments
Weekly Breakdown
| Week | Topics | Lessons | Deliverables |
|---|---|---|---|
| Week 6 | Gazebo Fundamentals | • Lesson 1: Gazebo Setup & Worlds • Lesson 2: URDF and SDF Robot Models | Gazebo simulation with custom robot model |
| Week 7 | Advanced Simulation | • Lesson 1: Physics Simulation • Lesson 2: Unity Robotics Hub • Lesson 3: Sensor Simulation | Integrated simulation with sensors and Unity visualization |
Prerequisites
- Completion of Module 1 (Weeks 3-5): ROS 2 Fundamentals
- Understanding of URDF robot descriptions
- Familiarity with 3D coordinate systems
- Basic physics concepts (kinematics, dynamics)
Module Assessment
Project: Gazebo Simulation Implementation
- Custom Gazebo world with obstacles
- Simulated humanoid robot with sensors (LIDAR, cameras, IMU)
- ROS 2 integration for robot control
- Sensor data visualization in rviz2
📋 View Full Project Details: Gazebo Simulation Project Assessment
Tools and Technologies
- Gazebo Classic/Ignition: Physics-based simulation
- Unity 2022+: Game engine for visualization
- Unity Robotics Hub: ROS-Unity bridge
- URDF/SDF: Robot and world description formats
- ROS 2 Gazebo plugins: Sensor and actuator simulation