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Running simulations
XavierGallart edited this page Feb 26, 2013
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To run a simple stage simulation with teleoperation using keyboard:
roslaunch rocs_simulation stage_cvap7_dora.launch
Run roslaunch rocs_test simulation_mapping.launch.
Move the robot through the map using the keyboard (i,j,k,l) and see the current progress in Rviz.
Save the final map running rosrun map_server map_saver -f mymap_name.
Run roslaunch rocs_test simulation_navigation.launch.
Navigate the robot through a built map. Select "2D Nav Goal" and click on your desired destination. The robot will go there.
Run roslaunch rocs_test simulation_exploration.launch.
Let the robot explore an unknown map and see the current progress in Rviz. As before, you can save the map running rosrun map_server map_saver -f mymap_name.