mission8_sim

Gazebo simulation of mission 8

Setup

run

echo 'export GAZEBO_MODEL_PATH=${GAZEBO_MODEL_PATH}:~/catkin_ws/src/mission8_sim/models' >> ~/.bashrc

Running Sim

cd ~/catkin_ws/src/mission8_sim/scripts
./startMultiSim.sh

Controlling Actor

add the following line to the .bashrc

GAZEBO_PLUGIN_PATH=${GAZEBO_PLUGIN_PATH}:/home/tar/catkin_ws/build/mission8_sim/

Running the actor sim

cd ~/catkin_ws/src/mission8_sim
roslaunch mission8_sim hello.launch

In another terminal run the key talker

cd ~/catkin_ws/src/mission8_sim
rosrun mission8_sim talker

Files

hello.launch - launches the empty world with the actor

sim.launch - launches the arena with the actor (works really slowly)

sim.world - Gazebo world with the actor

hello.world - Gazebo world with just the actor

dalekControl.cpp - the plugin for the subscriber

keyTalker.cpp - the plugin for the keyboard controls

simple_world_plugin.cpp - the plugin for the actor simulation