robotont_gazebo

Dependencies

• robotont_description

• robotont_nuc_description

Running the simulator

To run the simulator:

roslaunch robotont_gazebo gazebo.launch

The launch file has four arguments:

• model - chooses between a model with NUC and realsense and a model without them
  • default: robotont_gazebo_nuc
  • options: robotont_gazebo_nuc, robotont_gazebo_basic, robotont_gazebo_lidar
• world - chooses which world to use
  • default: empty.world
  • options: empty.world, minimaze.world, bangbang.world, between.world, colors.world
• x_pos - chooses x coordinate of the world, controls where the robot will spawn, default: 0

For example, the following command will spawn the robot to a map called bangbang.world in position x=2 and the model that will be used is robotont_gazebo_nuc.

roslaunch robotont_gazebo gazebo.launch world:=$(rospack find robotont_gazebo)/worlds/bangbang.world model:=robotont_gazebo_nuc x_pos:=2 

To simply run the worlds without using the arguments:

• ```bash roslaunch robotont_gazebo world_minimaze.launch

*   
```bash
    roslaunch robotont_gazebo world_bangbang.launch
    

• ```bash roslaunch robotont_gazebo world_between.launch

*   
```bash
    roslaunch robotont_gazebo world_colors.launch