2022 IB Diploma Extended Essays

It is presented with all coordinate frames that are important for optimization proposes. These parts all have a physical connection to the base link, which is in accordance to the kinematic model. This can be shown below:

The distance between all the parts represents the real robot model. This is shown underneath:

Gazebo simulation The robot now can be inserted into Gazebo for a initial Ground-Truth. However, there is no Test environment set up within the simulation. That needs to be mapped and inserted into Gazebo Simulation.