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Running STDR SimulatorDescription: How to start the STDR Simulator, using launchers.
Tutorial Level: BEGINNER
Next Tutorial: stdr_simulator/Tutorials/How to load a map
Using provided launchers
The stdr_simulator provides a number of launchers (included in stdr_launchers package) to cover basic usage scenarios.
Simple use case, server, gui and a robot
You will need one terminal to run the following command:
$ roslaunch stdr_launchers server_with_map_and_gui_plus_robot.launch
A new window running the STDR GUI will come up and you should see something like this:
Using Rviz to visualize robot, sensor measurements
You can run rviz and subscribe to necessary topics or use the provided launcher:
$ roslaunch stdr_launchers rviz.launch
This is a very good example to understand what topics are published and which tf transforms are available: