 Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags. |
Testing the TIAGo Base simulation
Description: A brief summary of commands to install the required packages for PMB-2 simulationTutorial Level: BEGINNER
Author: Sai Kishor Kothakota < sai.kishor@pal-robotics.com >
Maintainer: Jordi Pages < jordi.pages@pal-robotics.com >
Source: https://github.com/pal-robotics/pmb2_tutorials.git
Pre-Requisites
Make sure that all ROS repositories specified in the previous tutorial have been installed or that the proper docker is used docker install tutorial.
Launching a Gazebo simulation
First of all open a console and source the workspace:
source ./devel/setup.bash
To launch the simulation of the TIAGo Base, execute:
roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true
With the simulation of TIAGo Base we are providing several pre-defined worlds which stress different aspects of navigation systems. You can find a list of these here.
Now let's launch the TIAGo Base simulation in a large corridor as follows:
roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true world:=large_corridor
The simulated TIAGo Base can provide the laser scan and sonar readings as depicted below. 
Nvidia compatibility issues
If you encounter any issues when trying to run gazebo inside the rocker verify that your drivers are up to date and that your PC configuration includes either nvidia GPU or Intel CPU
If you are facing this issue on a laptop, run nvdia-settings and go in the PRIME Profiles section
If you launched the rocker with nvidia support choose the NVIDIA (Performance Mode)
If you launched the rocker with intel support choose NVIDIA On-Demand (Default)
Restart the laptop and it should work
