Visual servoing simulator by using ROS and Gazebo

In this paper, a simulator for five degree of freedom (DOF) visual servoing robot is presented with eye-in-hand configuration. This simulator has been developed in Robot Operating System (ROS) and Gazebo environment. The designed simulator eases the process of testing and debugging visual servoing schemes, and robot controllers. Among different methods, one of the existing Image based visual servoing schemes, image moments, has been implemented to verify the functionality and performance of designed simulator.