## repository: git://github.com/ipa320/care-o-bot
<<PackageHeader(cob_bringup_sim)>>

== Software Requirements ==
Make sure that you have the [[cob_simulation]] stack installed on your system.

=== Starting a simulated Care-O-bot in gazebo using an environment provided by IPA ===
The launch files for starting the simulation depend on two environment variables ROBOT and ROBOT_ENV, you can find a detailed explanation of their usage on the [[care-o-bot|main Care-O-bot site]].
{{{
export ROBOT=cob4-2
export ROBOT_ENV=ipa-apartment
roslaunch cob_bringup_sim robot.launch
}}}

=== Population the world with objects ===
After you started the gazebo simulation environment you can add objects from [[cob_gazebo_objects]] to the simulation. Their names and positions for a specific environment are defined in [[cob_default_env_config]]. To add objects you can use
{{{
roslaunch cob_default_env_config upload_object_locations.launch
rosrun cob_bringup_sim spawn_object.py OBJECT_NAME1 OBJECT_NAME2 OBJECT_NAME3 ...
}}}
or 
{{{
rosrun cob_bringup_sim spawn_object.py all
}}}
There are pre-defined positions for the objects depending on the environment they get spawned. For more information about specifying positions, see [[cob_default_env_config]].

You can remove objects with
{{{
rosrun cob_bringup_sim remove_object.py OBJECT_NAME1 OBJECT_NAME2 OBJECT_NAME3 ...
}}}
or
{{{
rosrun cob_bringup_sim remove_object.py all
}}}
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## CategoryPackage