PGS Run

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

No-navigation Simulation

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

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Autonomous Navigation Simulation

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