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== Requirements ==
To demonstrate the RSM and get used to it's controls, the [[rsm_additions|RSM additions package]] offers two launch files that start a simulation including a complete robot and environment to start right away.

The first simulation uses the 3D [[http://gazebosim.org/|Gazebo]] simulator which has to be installed before. Furthermore, it depends on the [[husky_simulator]] package which includes the robot to be simulated. The second simulation depends on the [[stdr_simulator]] package which is solely in 2D and offers a much less CPU-intensive alternative to Gazebo. If your machine is not very powerful or you just want to have a quick peek at what the RSM has to offer, stick with the stdr simulator. Screenshots from both simulations can be seen below, Gazebo first and stdr_simulator last, the simulation on the left and RViz on the right.

{{attachment:simulations.png }}

Both simulations use the plugins implemented in RSM additions which need the following packages to be installed:
 * [[gmapping]] for SLAM
 * [[navigation|ROS navigation stack]] for the Navigation State
 * [[explore_lite]] for the Calculate Goal State

== Launch ==
When the above prerequisites are met, the simulations can be launched with the following commands including a pre-configured RViz display. If you do not want to start RViz, just leave out the rviz:=true.

For gazebo:
{{{
roslaunch rsm_additions simulation_gazebo.launch rviz:=true
}}}
For the stdr simulator:
{{{
roslaunch rsm_additions simulation_stdr.launch rviz:=true
}}}