Note: This tutorial assumes that you have completed the ROS Tutorials and grasp some usage of gazebo. The code for this stack is available in the roch_simulator..
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Using package of roch_gazebo

Description: This tutorial provides a guide to usage of package of roch_gazebo.

Keywords: gazebo

Tutorial Level: BEGINNER

Contents

  1. Demos

This tutorial assume you have completed tutorial of change env of Roch and ROS Tutorials, if you have not completed mainly change env of Roch, you should checkout at first.

For know we begin use roch_gazebo package, here we have some demo follow showing.

Demos

In roch_gazebo package, we can find mainly launch files such as roch_playpen.launch, amcl_demo.launch, gmapping_demo.launch.

Playpen

For using playpen launch, it is easy just run following:

  roslaunch roch_gazebo roch_playpen.launch

This launch file will open Gazebo, Roch model, and some other nodes.

Control Roch

Based on Playpen, you can control roch by keyboard or joystick´╝î For example following:

  • Keyboard
    •   roslaunch roch_teleop keyboard_teleop.launch
  • Joystick
    •   roslaunch roch_teleop logitech.launch

Gmapping

Based on above two demos, now you can test SLAM such gmapping, hector and etc.

  roslaunch roch_gazebo gmapping_demo.launch

After finish map build, you also can run following command for saving map as we previously mentioned at SLAM with roch_navigation.

  rosrun map_server map_saver -f <your_map_name>

AMCL

In Gazebo simulator you also can navigation based on map you created. Setup env value ROCH_GAZEBO_MAP_FILE with map you build. Then typing following command:

  roslaunch roch_gazebo amcl_demo.launch

If you want to see more information in Rviz, you can enter following command.

  roslaunch roch_viz view_navigation.launch

Steps as same with tutorials.

Wiki: roch_simulator/Tutorials/Using package of roch_gazebo (last edited 2017-03-09 01:56:35 by SawYer)