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PGS Run
Aris Thallas edited this page Nov 9, 2013
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Make sure your bashrc file includes the following:
source /opt/ros/hydro/setup.bash
source /usr/share/gazebo/setup.sh
source ~/catkin_ws/devel/setup.bash
source ~/pandora/pandora_gazebo/devel/setup.sh --extend
source ~/pandora/pandora_ros_pkgs/pandora_communications/devel/setup.sh --extend
source ~/pandora/pandora_ros_pkgs/pandora_common/devel/setup.sh --extend
source ~/pandora/pandora_ros_pkgs/pandora_robot/devel/setup.sh --extend
source ~/pandora/pandora_ros_pkgs/pandora_runtime/devel/setup.sh --extend
GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:~/pandora/pandora_gazebo/src/pandora_gazebo_worlds/models; export GAZEBO_MODEL_PATH
Then setup rviz (if you have not already done so) by running
cp ~/pandora/pandora_ros_pkgs/pandora_runtime/src/pandora_visualization/launch/rviz/config.rviz ~/.rviz/default.rviz
You will need 4 terminal tabs.
Launch Gazebo in Tab 1:
roslaunch pandora_gazebo_worlds testbed.launch
Launch Robot nodes and Rviz in Tab 2 (after gazebo loads world and robot):
roslaunch pandora_simulation ros_simulation_no_navigation.launch
Start robot in Tab 3 (after Rviz loads):
rosrun state_manager state_changer 1
Move robot using keyboard in Tab 4:
rosrun pandora_gazebo_plugins pandora_teleop_key
You will need 4 terminal tabs.
Launch Gazebo in Tab 1:
roslaunch pandora_gazebo_worlds testbed.launch
Launch Robot nodes and Rviz in Tab 2 (after gazebo loads world and robot):
roslaunch pandora_simulation ros_simulation.launch
Initialize robot FSM in Tab 3 (after Rviz loads):
rosrun pandora_fsm robocup_fsm_no_arm.py
Start robot in Tab 4:
rosrun state_manager state_changer 1