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