Note: This tutorial assumes you are familiar with ROS topics..
(!) Please ask about problems and questions regarding this tutorial on Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Creating a Stage Simulation

Description: This tutorial will go over the process by which one can simulate a Pioneer robot using the Stage Simulator.

Tutorial Level: BEGINNER

Selecting Your World File

There are currently two world files from which you can choose.

  1. stage-pioneer-3dx-hokuyo.launch
  2. stage-pioneer-3dx-sick.launch

The above launch files will start the stage simulation up with a pioneer to be controlled by the user. Stage will open in a new window with a map of the third floor of Vanderbilt University's Featheringill Hall.

Topic Assignments

The simulator will bring up the robot with similar topics to the real robot.

  • Simulation

    Real Robot







Starting the Simulator

To begin the simulation, use the command below with the correct laser rangefinder specified. We will be using the SICK-LMS200 as an example.

roslaunch p2os_launch stage-pioneer-3dx-sick.launch

Then you should get something like this.

Pioneer-3dx in Stage Simulation

Make it Go

Let's give the robot a command to move backward. The Robot will stop when it hits a wall.

rostopic pub /cmd_vel geometry_msgs/Twist '[-0.5, 0, 0]' '[0, 0, 0]' -r 100

That's it! You've got a simulated Pioneer robot. Next, try to use the code you wrote in the C++ Velocity Controller tutorial to control the simulated robot.

Wiki: p2os-purdue/Tutorials/P2OS Stage Simulation (last edited 2015-03-08 02:50:00 by HunterAllen)