Overview #
Contributed custom Gazebo plugins and terrain models to the Space ROS project — NASA’s open-source ROS2 framework for space robotics. The work introduces realistic environmental effects and planetary terrains derived from actual NASA Planetary Data System elevation data for Mars and Moon exploration simulations.
Key Features #
- Planetary Terrain Models — Mars (Gale Crater) from HiRISE imagery and Lunar terrain from LOLA data, built from real elevation datasets
- DustManager Plugin — Simulates Martian dust storms using ParticleEmitters, injecting visual noise and wind effects into sensor data with an interactive GUI
- DayLightManager Plugin — Realistic solar trajectory based on latitude and time-of-day, with dynamic scene color adjustments and lens flare affecting camera sensors
- VehicleDust & DroneDust Plugins — Reactive dust effects triggered by rover and drone motion on planetary surfaces
- Curiosity Rover Demos — Launch files for Curiosity rover scenarios on Mars terrain with full environmental effects
Tech Stack #
ROS2 Humble · Gazebo Harmonic · C++ · Docker · Space ROS