Visual servoing em ambientes virtuais com Unity 3D

Abstract

The implementation of visual servoing algorithms faces challenges such as the scarcity of physical robots for experimentation and the complexity of system integration. This work presents the development of a simulator in a virtual environment for robot visualization and control, focusing on validating visual control algorithms. The simulation is implemented on the Unity 3D platform, integrated with ROS 2 through the ROS-TCP-Connector package, enabling data exchange via the TCP/IP protocol. The simulator collects data from the camera attached to the robot’s end-effector, such as RGB images and depth maps, as well as joint state information, including positions, velocities, and efforts. It also allows individual joint control, promoting flexibility in algorithm development. Although the focus is on visual servoing, the simulator is versatile and can be applied to other control approaches. Additionally, a ROS 2 package containing a visual servoing algorithm was developed for automated robot control within the simulation. The proposal provides an environment to validate visual servoing algorithms in simulated scenarios, contributing to the development of solutions in the field of visual control.