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Fig 5 : Simulation of Four different Environment using Gazebo and integration of ROS for Lidar sensor configuration

The proposed framework is tested using hardware-in-the-loop in the MATLAB and Simulink to organize and control the telepresence robot. During the simulation, a user uses the teleoperator controlling device connected to a ROS node and the ROS node updates at 1 kHz. The simulation runs at a sample rate of 150 Hz and in real-time. Each communication channel has time-varying delays, with\(\mu_{t}\ \ =\ 0.5\) seconds and \(\sigma_{t}^{2}\ \ =\ 0.10\)seconds implemented. In Fig. 9, the agents fluctuate slightly as they avoid the obstacles, which is a benefit of the proposed teleoperation approach.