Using ROS and Gazebo to Safely Validate and Verify Autonomous Systems.pdf
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LOCKHEED MARTIN ▪ Autonomous Systems 1
Using ROS and Gazebo to
Safely Validate and Verify
Autonomous Systems
Joshua P. Hecker
Staff Software Engineer
ROSCon 2019
LOCKHEED MARTIN ▪ Autonomous Systems 2
ROS-related Projects @ LMAS
• Multiple projects built on and/or extending
ROS as a core autonomy architecture:
– Transport and mining truck fleets
– Subsurface vehicles
– Multiple aerial platforms
• Significant investment in vehicle and
sensor modeling in Gazebo:
– Segway RMP 440 LE (off-road platform)
– Caterpillar 777F (mining haul truck)
– Neptec OPAL (3D lidar sensor)
• ROS/Gazebo commonly requested by
customers, agencies, proposal calls, etc.
Lockheed Martin
Autonomous Systems
(LMAS)
Littleton, CO, USA
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