| Note: This tutorial assumes that you have completed the ROS Tutorials and grasp some usage of gazebo. The code for this stack is available in the roch_simulator.. |
 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. |
Using package of roch_gazebo
Description: This tutorial provides a guide to usage of package of roch_gazebo.Keywords: gazebo
Tutorial Level: BEGINNER
Contents
This tutorial assume you have completed tutorial of change env of Roch and ROS Tutorials, if you have not completed mainly change env of Roch, you should checkout at first.
For know we begin use roch_gazebo package, here we have some demo follow showing.
Demos
In roch_gazebo package, we can find mainly launch files such as roch_playpen.launch, amcl_demo.launch, gmapping_demo.launch.
Playpen
For using playpen launch, it is easy just run following:
roslaunch roch_gazebo roch_playpen.launch
This launch file will open Gazebo, Roch model, and some other nodes.
Control Roch
Based on Playpen, you can control roch by keyboard or joystick， For example following:
- Keyboard
roslaunch roch_teleop keyboard_teleop.launch
- Joystick
roslaunch roch_teleop logitech.launch
Gmapping
Based on above two demos, now you can test SLAM such gmapping, hector and etc.
roslaunch roch_gazebo gmapping_demo.launch
After finish map build, you also can run following command for saving map as we previously mentioned at SLAM with roch_navigation.
rosrun map_server map_saver -f <your_map_name>
AMCL
In Gazebo simulator you also can navigation based on map you created. Setup env value ROCH_GAZEBO_MAP_FILE with map you build. Then typing following command:
roslaunch roch_gazebo amcl_demo.launch
If you want to see more information in Rviz, you can enter following command.
roslaunch roch_viz view_navigation.launch
Steps as same with tutorials.
