Package Summary

Launch files used to start a youBot Gazebo RMS environment server.

Author: Russell Toris
License: BSD
Source: git https://github.com/WPI-RAIL/rms_youbot_gazebo_environment.git (branch: fuerte-devel)

Contents

About
Installation
1. Startup
Tutorials
Support

About

The rms_youbot_gazebo_environment package contains launch files that can launch an example RMS Gazebo environment for use with the rms. These files will launch the simulator with a youBot world from the rail_worlds package, place a youBot into the world, and start appropriate server nodes (e.g., mjpeg_server). In addition, localization and path planning services are started via the youbot_overhead_localization package.

Installation

To install the rms_youbot_gazebo_environment package, simply run the following commands in your shell:

```
   1 cd /path/to/your/ros/stacks
   2 git clone https://github.com/WPI-RAIL/rms_youbot_gazebo_environment.git
   3 roscd rms_youbot_gazebo_environment
   4 rosmake rms_youbot_gazebo_environment
```

This will ensure all dependencies are met and that the package is ready for use.

Startup

Two launch files are included with this package: one to launch everything needed to run the entire server environment, and one to just spawn the robot into an existing Gazebo instance. To launch the entire server environment (i.e., with all server nodes such as rosbridge_server), simply run the following:

roslaunch rms_youbot_gazebo_environment rms_youbot_gazebo_environment.launch

If instead you wish to start Gazebo and spawn the robot without starting the actual server nodes, run the following set of commands in two shell sessions:

```
   1 roslaunch rail_worlds youbot_world.launch
   2 roslaunch rms_youbot_gazebo_environment youbot_gazebo_start.launch
```

Tutorials

More detailed instructions are provided for installing, setting up, and running an instance of the youBot RMS Gazebo Environment server. For more information, start with the following tutorial:

No results found.

A full list of all RMS related tutorials is provided on the rms stack page.

Support

Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.

Russell Toris
- rctoris@wpi.edu
- Academic Website