Launching a Gazebo Simulation environment

Description: How to bring up a Gazebo world and load the AR250 in the simulation environment

Tutorial Level: BEGINNER

Next Tutorial: Configures and launches Mapping an environment.

The following tutorial demonstrates the process of initiating AR250 within a simulated environment. To follow along, make sure you have the anscer_simulation repository available. Additionally, you can consult this installation guide for further assistance with setting up the necessary repositories.

Instructions:

• Open a terminal and execute the following commands to configure Gazebo.

   1 # source the workspace
   2 source ~/catkin_ws/devel/setup.bash

• The anscer_simulation includes a default world.
  • anscer

    <image>

• The anscer world will be launched by default when the gazebo node is launched.

   1 roslaunch start_anscer start_anscer.launch

• If you want to use another world, you can follow these steps:

   1 # Copy the XYZ.world file to this location
   2 roscd anscer_gazebo/world/

• To update the path in the launch file, follow these steps:

   1 roscd anscer_gazebo/launch/
   2 vim anscer_gazebo
   3 # Replace "anscer.world" with "XYZ.world"
   4 <arg name="world_name" value="$(find anscer_gazebo)/worlds/anscer.world"/>

• To move the robot, open a new terminal and launch the teleoperation package:

• Control Your AMR!

  Moving around:

• w/x : increase/decrease linear velocity

  a/d : increase/decrease angular velocity

  space key, s : force stop

   1 roslaunch anscer_teleop anscer_teleop_key.launch