This package contains configuration and launch files to run a simple simulation using stageros. The simulated robot is generic, it could be adapted to a specific robot. The robot is able to navigate around using the navigation stack. In a nutshell, this package presents a simulated scenario created following navigation_stack tutorials, so it could be considered another navigation stack example also. MTTD_interface will use this scenario as twoLevelMTTD testing environment.
initial_senderinitial_sender set the robot initial pose.
Published Topicsinitialpose (geometry_msgs/PoseWithCovarianceStamped)
- Just set the initial pose.
Parameters~x_pose (double, default: 8.0)
- x initial position
- y initial position
- z initial position
- theta initial orientation
In order to run the simulation, just typing
$ roslaunch MTTD_simulation simulation.launch
and then set the robot initial pose using rviz, or typing (in a new terminal)
$ rosrun MTTD_simulation initial_sender
Remember to kill initial_sender node after.