(!) Please ask about problems and questions regarding this tutorial on answers.ros.org. Don't forget to include in your question the link to this page, the versions of your OS & ROS, and also add appropriate tags.

Running the Komodo\Lizi gazebo simulation

Description: This tutorial covers the required steps for running the Komodo gazebo simulation

Keywords: komodo gazebo simulation

Tutorial Level: ADVANCED

Preliminary Setup

First make sure you have the latest ric meta-package installed from https://github.com/robotican/ric.git (branch: indigo-devel). See Section 1.4 of the robot installation tutorial.

Then install the hector-gazebo and ros-controllers packages:

$ sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigo-gazebo-ros-control ros-indigo-hector-gazebo ros-indigo-ros-controllers


To launch the simulation with default parameters run:

$ roslaunch ric_description komodo_gazebo.launch


$ roslaunch ric_description lizi_gazebo.launch

You can change the robot id and initial position and orientation by editing the launch file.

To launch multiple robots in the same simulation launch the multi_komodo_gazebo.launch file:

$ roslaunch ric_description multi_komodo_gazebo.launch

alt text

alt text

Wiki: ric_robot/Tutorials/Running the Komodo gazebo simulation (last edited 2015-06-28 09:54:05 by yamgeva)