/ROS_JACKAL_SIMULATOR

Primary LanguageC++

Quick Setup for Jackal Robot Simulation

ROS version: Kinetic (Ubuntu 16.04)

Gazebo and Rviz without Laser Scanner

$ roslaunch jackal_gazebo jackal_world.launch
$ roslaunch jackal_viz view_robot.launch

Gazebo and Rviz with Laser Scanner

$ roslaunch jackal_gazebo jackal_world.launch config:=front_laser
$ roslaunch jackal_viz view_robot.launch

Navigation without Map

$ roslaunch jackal_gazebo jackal_world.launch config:=front_laser
$ roslaunch jackal_drive_indoors odom_navigation_without_map.launch
$ roslaunch jackal_viz view_robot.launch config:=navigation_without_map

Navigation with Gmapping

$ roslaunch jackal_gazebo jackal_world.launch config:=front_laser
$ roslaunch jackal_drive_indoors start_mapping.launch
$ roslaunch jackal_viz view_robot.launch config:=gmapping
$ roslaunch jackal_drive_indoors start_teleop.launch
$ roscd jackal_drive_indoors/maps/
$ rosrun map_server map_saver -f jackal_map