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Module 2: The Digital Twin (Gazebo & Unity)
Sensor Simulation in Gazebo
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Unity Integration for High-Fidelity Rendering
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Module 2 Practical Exercises
Introduction
Types of Sensors in Gazebo
1. Camera Sensors
2. LiDAR Sensors
3. IMU Sensors
4. Force/Torque Sensors
Noise Models and Realism
Adding Realistic Noise
Custom Noise Models
ROS 2 Sensor Integration
Sensor Message Types
Custom Sensor Processing
Multi-Sensor Fusion
Sensor Placement Strategy
Sensor Fusion Node
Calibration and Validation
Sensor Calibration
Validation Techniques
Performance Considerations
Optimizing Sensor Simulation
Multi-Threading Sensors
Troubleshooting Common Issues
Sensor Data Quality
Performance Issues
Integration Problems
Advanced Sensor Configurations
Custom Sensor Plugins
Dynamic Sensor Configuration
Hands-on Exercise
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