The stdr_samples package provides code and launchers to demonstrate the STDR Simulator functionalities. The available samples follow.
To perform simple obstacle avoidance spawn a robot equipped with a laser sensor. Then simply execute the following command:
rosrun stdr_obstacle_avoidance robotX laser_Y
, where X the robot's ID and Y the laser's ID. It is assumed that the laser has an orientation of 0 degrees, relatively to the robot.