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--- ros:turtlebot:simu [2013/12/14 16:23] – towa45
+++ ros:turtlebot:simu [Unknown date] (current) – removed - external edit (Unknown date) 127.0.0.1
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-#Simulating a Turtlebot in a virtual world
-These steps will allow you to simulate and play with a virtual Turtlebot powered by gazebo.
-#Install
-first take a look at gazebo simulator, please refer to [[http://wiki.ros.org/gazebo|gazebo wiki]]
-if not installed yet, you need turtlebot simulator.
-    sudo apt-get install ros-hydro-turtlebot-simulator
-#Run simulations
-##First simulations
-First you can try to run an empty world:
-    roslaunch turtlebot_gazebo turtlebot_empty_world.launch
-you should wait a little until you see the turtlebot model in gazebo, Or a bug in the terminal (refer to Connectivity and bugs).
-If you see your robot, your simulation should run correctly. You can check all the ROS nodes ans topics by launching
-    rqt-graph
-You should see a /gazebo bubble replacing the robot when you are playing with the real robot.
-That means you can now use the usual demo software for the turtlebot such as keyboard teleop, revitz navigation, SLAM, ...
-You will create your physical world in gazebo (placing obstacles, creating a world) and then everything should be as if you were using the real robot including sensons feedback.
-##Advaced simulation
-If you are bored of the flat map, you cal load a map with some obstacles:
-    roslaunch turtlebot_gazebo turtlebot_playground.launch
-##Connectivity and bugs
-It seems that a lot of issues I had trying to simulate the turtlebot with gazebo came from a bad internet connection. Gazebo needs to acces the server to download files.
-I had some other more or less random segmentation fault. All this stuff doesn't seem to be really stable but hey! how much did you pay for it? ...
-I had more problems with
-    roslaunch turtlebot_gazebo turtlebot_playground.launch
-first launch usualy returns a segmentation fault
-second launch usualy works without segfault but seems to strugle a little to download files and run simulation.
-After the second try, gazebo is launched and we can see the turtlebot and the environment.
-When launching gmaping SLAM example, I get stuck on a recusive:
-    update ld=3.3651e-05 ad=0.000384513
-    Laser Pose= 0.219767 -0.197273 -2.03917
-    m_count 321
-    Average Scan Matching Score=139.592
-    neff= 79.9996
-    Registering Scans:Done
-    update frame 1355
-    update ld=3.05822e-05 ad=0.000347994
-    Laser Pose= 0.219738 -0.197264 -2.03882
-    m_count 322
-I started with m_count=0 and stoped manualy at m_count 322 after around 30min. something went wrong...
-##Next steps
-It's time for you to play with demo codes such as:
-    roslaunch turtlebot_gazebo gmapping_demo.launch
-    roslaunch turtlebot_rviz_launchers view_navigation.launch
-And of course all the kickass obstacle avoidance algorithms you could think of ;-).
-Have fun!
-#References
-Basicaly everything comes from the [[http://wiki.ros.org/|ROS wiki]]