A Gazebo simulation environment adapted from the ARIAC competition environment (2017 edition).
Install dependencies (must be invoked from workspace root!)
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y -r
then build the package and source the workspace setup file.
Launch the ARIAC world and spawn a P3-DX robot with fake localization.
roslaunch ariac_environment ariac_p3dx_fakeloc_rviz.launch
To drive the robot manually using the keyboard, launch (from another terminal):
roslaunch ariac_environment teleop_keyboard.launch
TODO: add navigation functionality ...
Launch files shall be named according to the following pattern (values in parentheses are optional):
<(gazebo environment name)>_<robot_type>_<(localization)>_<(control)>_<(visualization)>.launch
e.g.
ariac_p3dx_fakeloc_rviz.launch
Launches the Ariac Gazebo environment, with a p3dx model, fake localization, no control and RViz visualization.