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## title = Erratic Simulation
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## description =  Simulating differential drive Erratic robot in 3D simulator and drive it around using ROS.
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/!\ Disclaimer Necessary dependency (`erratic*` pkg) not available in `Groovy` (as of 12/27/2012)

=== Erratic Demo ===
{{attachment:erratic_gazebo.png}} <<BR>>

Install erratic_robot stack first if it's not already installed:

{{{
sudo apt-get install ros-diamondback-erratic-robot
}}}

To test if everything was installed correctly we will run Gazebo simulator with an empty map and spawn an Erratic robot by running the following command:

{{{
roslaunch erratic_description erratic_empty_world.launch
}}}

To actually drive the robot we need to launch a keyboard teleoperation node in another terminal:

{{{
rosrun erratic_teleop erratic_keyboard_teleop
}}}

Make sure this terminal window has focus so that keyboard commands are properly captured by the teleoperation node.

=== Erratic Demo with Navigation Stack ===
For navigation stack with SLAM mapping, run

{{{
roslaunch erratic_navigation_apps demo_2dnav_slam.launch
}}}

To build a map we need to drive the robot around, launch a keyboard teleoperation node in another terminal and drive the robot around:

{{{
rosrun erratic_teleop erratic_keyboard_teleop
}}}

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