Module 2: The Digital Twin (Gazebo & Unity)
Focus: Physics simulation and environment building Duration: Weeks 6-7 (2 weeks) Hardware Tier: Tier 2 (RTX GPU recommended)
This module is currently in outline form. Full content will be available in a future update.
Module Overview
Before deploying code to a physical robot, we test it in simulation. A Digital Twin is a virtual replica of your robot that behaves according to real physics - gravity, friction, collisions, and sensor noise.
In this module, you'll master Gazebo for physics simulation and Unity for high-fidelity visualization and human-robot interaction scenarios.
Learning Objectives
By the end of this module, you will be able to:
- Set up Gazebo simulation environments for robot testing
- Create robot models using URDF and SDF formats
- Simulate physics including gravity, collisions, and friction
- Configure virtual sensors (LIDAR, cameras, IMUs)
- Build high-fidelity visualizations in Unity
- Design human-robot interaction scenarios
Prerequisites
- Module 1: The Robotic Nervous System (ROS 2) - completed
- Basic 3D graphics concepts (helpful but not required)
- Ubuntu 22.04 with ROS 2 Humble
Hardware Requirements
| Tier | Equipment | What You Can Do |
|---|---|---|
| Tier 1 | Laptop + Cloud | AWS RoboMaker, limited local Gazebo |
| Tier 2 | RTX GPU + Ubuntu | Full Gazebo simulation, Unity rendering |
Chapters
Chapter 1: Gazebo Simulation
Week 6 • 4 Lessons
Build and test robots in a physically accurate simulation environment.
Chapter 2: Unity Visualization
Week 7 • 4 Lessons
Create high-fidelity renderings and complex human-robot interaction scenarios.
What You'll Build
- Gazebo World - A custom simulation environment
- Sensor Suite - Simulated LIDAR, depth camera, IMU
- Unity Scene - High-fidelity robot visualization
- HRI Scenario - Human-robot interaction demo