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== Start Gazebo Process ==

Launch gazebo via following command:
{{{
$ roslaunch mrp2_gazebo mrp2_gazebo.launch
}}}

== Start AMCL - Adaptive Monte Carlo Localization Demo ==

To launch '''`amcl`''' demo, just open another terminal window and type:

{{{
$ roslaunch mrp2_navigation amcl_demo.launch
}}}

This command starts the amcl application with a previously saved '''`milvus_office.yaml`''' map file by default. If you have map file of your own and want to start with that map file, just give it as a parameter to previous command:

{{{
$ roslaunch mrp2_navigation amcl_demo map_file:=/tmp/my_map.yaml
}}}

Note that map_file argument takes full path of your file. You can't use variables or '''`~`''' character on it. Now, You can start moving your robot.

== Visualise AMCL via RViz ==

To get more details on the process you can fire up a new terminal and launch RViz;

{{{
$ roslaunch mrp2_viz view_amcl.launch
}}}

Now, we can see a map and representation of robot's possible locations, and the robot stands on the most probable one. You can control the robot via interactive markers, send a simple goal from RViz. When robot moves, you should be able to see probable locations and most probable one are changing.

{{attachment:amclsc.png}}

From here you can move to our next section of tutorials which involves working with a real robot. [[mrp2_bringup/Tutorials/Launch robot and access to control of it from your machine|Launch robot and control it from remote PC]].