Simulating RIA¶
- RIA can be used in simulated environments regardless of real robot
- This step will guide to how to use RIA simulator
- Simulator package is included in RIA meta package that has been setup at installation step
- Run following in each terminal
- To start simulation:
$ roslaunch ria_sim gazebo.launch
This will launch RIA’s simulation world. By default it is empty world. Can add different worlds by adding argument
$ roslaunch ria_sim gazebo.launch world_name:=/worlds/willogarage.world
- To control manually
$ roslaunch ria_sim keyboard.launch
- To generate map
$ roslaunch ria_sim slam_gmapping.launch
- To navigate robot
$ roslaunch ria_sim move_base.launch
- To visualize robot in rviz
$ roslaunch ria_sim view.launch