OTTO 600 and OTTO 1500 Robots Gem for Open 3D Engine (O3DE)

A bit of context

• Open 3D Engine - an open-source game & simulation engine. O3DE is extendable through modules called Gems. This is one of such Gems.
• Robot Operating System (ROS) - an open-source middleware and, de facto, standard for robotics.
• ROS2 Gem - an open-source module for O3DE that enables simulation for robotics using modern ROS.
• OTTO Motors - OTTO Motors is Rockwell Automation's AMR division, providing autonomous mobile robots (AMRs) for material handling inside manufacturing facilities and warehouses.

Please refer to O3DE documentation to learn more about Gems and about registering Gems in the system and O3DE projects.

Requirements

• Any O3DE project with the O3DE ROS2 Gem enabled.

Assets description

This Gem contains the following assets:

• OTTO 1500 v2
• OTTO 600
• High and low stands for OTTO 1500 v2
• Stand for OTTO 600

O3DE models of the robots are based on the Unified Robot Description Format (URDF) files available in workspace folder. The models were converted to O3DE prefabs using a built-in robot importer. Please note that the structure of the models was developed independently from the actual design, which is not public, and, therefore, might differ. The robots are further simplified and do not include some sensors. In particular:

OTTO 1500:

• Forward- and backward-facing 3D Perception cameras
• Embedded 6-axis IMU
• SICK Microscan3 (360 FOV) scanner

OTTO 600:

• Forward-facing 3D Perception cameras
• Embedded 6-axis IMU

The assets are delivered as O3DE prefabs in the following folder structure:

Assets
├── OTTO1500
│   ├── OTTO1500_Basic_platform.prefab
│   ├── OTTO1500_Lifting_platform.prefab
│   └── Stand
│       ├── StandHigh.prefab
│       └── StandLow.prefab
└── OTTO600
    ├── OTTO600.prefab
    └── Stand
        └── Otto600Stand.prefab

in which OTTO1500_Basic_platform.prefab and OTTO1500_Lifting_platform.prefab model OTTO1500 v2 robots with basic and high-lifting platforms respectively matching low and high stands stored in StandLow.prefab and StandHigh.prefab O3DE prefabs. OTTO600.prefab models OTTO 600 robot with a lifting platform that can be used with Otto600Stand.prefab stand. Robots contain visual models, colliders and physics, along with the following ROS components:

• ROS2 Frame
• ROS2 Robot Control
• ROS2 Skid Steering Vehicle Model
• ROS2 Lidar Sensor
• ROS2 PID Motor Controller

Source code description

This Gem includes implementation to control lifting platforms of OTTO 600 and OTTO 1500 robots. Movement of the platform can be manually steered using PhysX Debug Gem or controlled from code using the Pid Motor Controller Component. Additionally, it includes the code to control the lights of OTTO 600. This can be done via ROS 2 interfaces directly from the source code or using command line ROS 2 tools as in the example below:

ros2 topic pub --once /base_link/color std_msgs/msg/String "{data: WHITE}"

The set of pre-defined colors includes WHITE, GREEN, YELLOW, MAGENTA, PURPLE, RED, BLUE, CYAN, ORANGE, and PINK. The default configuration can be recovered using default as the parameter.

Screenshots

OTTO1500_Basic_platform.prefab (with a small, static platform)

OTTO1500_Lifting_platform.prefab (with a high-lifting platform at minimum position)

OTTO1500_Lifting_platform.prefab (with a high-lifting platform at maximum position)

OTTO600.prefab with a lifting platform at minimum position

OTTO600.prefab with a lifting platform at maximum position

Otto600Stand.prefab, StandLow.prefab, StandHigh.prefab

OTTO600.prefab models with different light configurations: top row: default, WHITE, GREEN, YELLOW, MAGENTA, PURPLE; bottom row: RED, BLUE, CYAN, ORANGE, PINK, default

Acknowledgments

Models were created based on STL files kindly shared by OTTO Motors.

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This work is licensed under Apache License, Version 2.0. You may elect at your option to use the MIT License instead. Contributions must be made under both licenses.