## page was copied from PackageTemplate
<<PackageHeader(clober_simulation)>>
<<TOC(4)>>

''ROS Software Maintainer: [[http://wiki.ros.org/clobot|Clobot]]''

== Clober Simulation Package ==
{{attachment:clober/clober_right.png|Clober Robot|width=400}}

'''Clober Simulation''' package contains the launch files needed for simulation of the Clober Research Platform. Simulation within the virtual world would mitigate the risks and likelihood of failure of systems when it is applied into the real world. We aim to provide more realistic environments such that more accurate results can be reproduced in the future.

== Clober e-Manual ==
 * [[https://app.gitbook.com/@clobot-git/s/clober-manual/|Clober e-manual on gitbook]]

== ROS API ==

{{{
#!clearsilver CS/NodeAPI
node.0 {
name= gazebo
desc= This package is used [[http://wiki.ros.org/gazebo_ros|gazebo_ros]].
}
pub {
  0.name = joint_states
  0.type = sensor_msgs/JointState
  0.desc = Joint State for each non-fixed joint in the robot
  1.name = imu
  1.type = sensor_msgs/Imu
  1.desc = orientation data, including raw data of linear_acceleration and angular_velocity.
  2.name = odom
  2.type = nav_msgs/Odometry
  2.desc = estimation data of a position and velocity in free space
  3.name = scan
  3.type = sensor_msgs/LaserScan
  3.desc = single scan data from a planar laser range-finder
  4.name = tf
  4.type = tf2_msgs/TFMessage
  4.desc = maintains the relationship between coordinate frames in a tree structure buffered in time.
}
sub {
  0.name = cmd_vel
  0.type = geometry_msgs/Twist
  0.desc = Twist has a linear component, for the (x,y,z) velocities, and an angular component for the angular rate about the (x,y,z) axes.
}
}}}

{{{
#!clearsilver CS/NodeAPI
node.1 {
name= joint_state_publisher
desc= This package is used [[http://wiki.ros.rog/joint_state_publisher|joint_state_publisher]]
}
pub {
  0.name = joint_states
  0.type = sensor_msgs/JointState
  0.desc = Joint State for each non-fixed joint in the robot
}
}}}

{{{
#!clearsilver CS/NodeAPI
node.2 {
name= robot_state_publisher
desc= This package is used [[http://wiki.ros.rog/robot_state_publisher|robot_state_publisher]]
}
sub {
  0.name = joint_states
  0.type = sensor_msgs/JointState
  0.desc = joint position information
  1.name = tf
  1.type = tf2_msgs/TFMessage
  1.desc = maintains the relationship between coordinate frames in a tree structure buffered in time.
}}}

## AUTOGENERATED DON'T DELETE
## CategoryPackage