This paper presents new ROS integration functions of the robot simulator Choreonoid. As five years have passed since the first time Choreonoid and ROS were integrated, and some ROS functions have been significantly improved. The new functions presented in this paper have been introduced to follow the ROS improvement. The functions enable Choreonoid to work with an abstracted control framework called ros_control and to load robot models written in unified robot description format (URDF), which makes Choreonoid compatible with the other ROS-supported robot simulators.
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