<> <> == About == ||The `rms_youbot_gazebo_environment` package contains launch files that can launch an example RMS Gazebo environment for use with the [[rms]]. These files will launch the simulator with a youBot world from the [[rail_worlds]] package, place a youBot into the world, and start appropriate server nodes (e.g., [[mjpeg_server]]). In addition, localization and path planning services are started via the [[youbot_overhead_localization]] package. || {{attachment:environment.png}} || == Installation == To install the `rms_youbot_gazebo_environment` package, simply run the following commands in your shell: {{{#!shell cd /path/to/your/ros/stacks git clone https://github.com/WPI-RAIL/rms_youbot_gazebo_environment.git roscd rms_youbot_gazebo_environment rosmake rms_youbot_gazebo_environment }}} This will ensure all dependencies are met and that the package is ready for use. === Startup === Two launch files are included with this package: one to launch everything needed to run the entire server environment, and one to just spawn the robot into an existing Gazebo instance. To launch the entire server environment (i.e., with all server nodes such as [[rosbridge_server]]), simply run the following: {{{ roslaunch rms_youbot_gazebo_environment rms_youbot_gazebo_environment.launch }}} If instead you wish to start Gazebo and spawn the robot without starting the actual server nodes, run the following set of commands in two shell sessions: {{{#!shell roslaunch rail_worlds youbot_world.launch roslaunch rms_youbot_gazebo_environment youbot_gazebo_start.launch }}} == Tutorials == More detailed instructions are provided for installing, setting up, and running an instance of the youBot RMS Gazebo Environment server. For more information, start with the following tutorial: <> A full list of all RMS related tutorials is provided on the [[rms]] stack page. == Support == Please send bug reports to the [[https://github.com/WPI-RAIL/rms_youbot_gazebo_environment/issues|GitHub Issue Tracker]]. Feel free to contact me at any point with questions and comments. * [[Russell Toris|Russell Toris]] * [[mailto:rctoris@wpi.edu|rctoris@wpi.edu]] * [[http://users.wpi.edu/~rctoris/|Academic Website]] ---- || {{attachment:wpi.png}} ||<:99%> || {{attachment:rail.png}} || ## AUTOGENERATED DON'T DELETE ## CategoryPackage