|Note: This tutorial assumes you are familiar with ROS topics..|
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Creating a Stage SimulationDescription: 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.
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.
The simulator will bring up the robot with similar topics to the 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.
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.