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Downloading and installing VirtualPlume

Download PlumeSim

1. Open a terminal window and cd into a directory that is on your ROS_PACKAGE_PATH. 2. Now you'll checkout PlumeSim using svn. In your terminal window run the following:

svn co http://isr-uc-ros-pkg.googlecode.com/svn/trunk/unstable/simulator_plumesim

3. Next you'll download the missing dependencies for PlumeSim, lse_messages.

svn co http://isr-uc-ros-pkg.googlecode.com/svn/trunk/unstable/lse_messages

Install PlumeSim

Now all you need to do is compile PlumeSim using rosmake:

rosmake plumesim

Testing PlumeSim

To make sure everything is working properly let's try PlumeSim out!

1. Launch a roscore on a terminal window and open a new terminal window to go to the plumesim directory.

roscd plumesim

2. Next load a test params file and start plumesim. You can have a look at the full params listing on the plumesim page.

rosparam load settings/gaussian_settings.yaml
rosrun plumesim plumesim

3. Now open rviz to see the plume. Add a new Markers display. The plume should be on a topic called /plumesim/plumesim_markers. You should be able to see something like this:

Congratulations! You have successfully downloaded and installed PlumeSim for ROS!

Now you can continue to Using PlumeSim with virtual_nose to learn how to use PlumeSim with a robot.