A ROS-Gazebo Interface for the Katana Robotic Arm Manipulation

Keywords: ROS, Gazebo, Katana Arm, Robotic Systems, Katana Native Interface (KNI).


Nowadays, simulators are being used more and more during the development of robotic systems due to the efficiency of the development and testing processes of such applications. Undoubtedly, these simulators save time, resources and costs, as well as enable ease of demonstrations of the system. Specifically, tools like the open source Robotic Operating System (ROS) and Gazebo have gained popularity in building models of robotic systems. ROS is extensively used in robotics due to the pros of hardware abstraction and code reuse. The Gazebo platform is used for visualisation because of its high compatibility with ROS. In this paper, ROS and Gazebo have been integrated to build an interface for the visualisation of the Katana Arm manipulator.


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Author Biography

Ibrahim Hamarash, Department of Computer Science and Engineering, University of Kurdistan-Hewler, Erbil, Iraq

He is Professor of Computer Engineering at UKH. He has joined UKH in 2018. Before that, he was Professor of Electrical and Computer Systems Engineering at Salahaddin University. He received BSc in Electronics and Communication Engineering from the same university, MSc in Control Systems Engineering from Mosul University, and MRes degree in Computer Science from Staffordshire University (UK). His PhD in Control Systems Engineering from The University of Technology, his ICT project management certificate from UCSD, USA. During 2007, he was visiting postdoctoral researcher at Monash University (Australia) and has been awarded the Endeavor Medal from Australian Department of Education, Employment and Workplace Relations for his postdoctoral research in Control Systems.

He is the co-founder of the Mobile Education Centre for Regeneration Energy and Automation (MECREA) with Karlsruhe University for Applied Science, Germany.  He founded Erbil Centre for Sustainable Development with Five Professors from Five International Universities to support  KRG projects. He is the founder and head of the Software Engineering Department at SU,2000-2004, Head of Electrical Engineering Department at SU,2007-2011. Vice President for Scientific Affairs and postgraduate studies,2011-2017, Dean of Engineering College at SU 2017-2018 before he moves to UKH in April 2018.

He is the author of the first national Computer Dictionary (English-Kurdish), 1999, Computers (Textbook for year 7 and 8  students in Kurdistan Region, 2001, and the author of more than 40 scientific papers.  He served as the general chair and keynote speaker for many International Conferences in Kurdistan and abroad.

In the industrial sector, he designed and supervised many  Electrical, Control, Computer and Software Projects for International agencies and companies between 1993-2011.

He supervised 18 MSc. students, 5 PhD. students in the field of Electrical, Computer, Software Engineering and Information Technology. He is a member of Kurdistan Engineers Union, Iraqi Engineers Syndicate and IEEE.


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How to Cite
AlRashid Agha, R., Mahdi, Z., Sefer, M., & Hamarash, I. (2021, June 30). A ROS-Gazebo Interface for the Katana Robotic Arm Manipulation. UKH Journal of Science and Engineering, 5(1), 26-37. https://doi.org/https://doi.org/10.25079/ukhjse.v5n1y2021.pp26-37
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