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Documentation is available for each package as linked above. The main packages are:

Usage Tutorial

1. Build the arena designer gui:

2. rosmake hector_nist_arena_designer

3. Start the arena designer gui:

rosrun hector_nist_arena_designer arena_designer 

4. You can now drag & drop elements from the left pane into the main map view in the center and build a simulation scenario. You can also load existing scenarios using "Open Arena" under the "File" menu. The opened RoboCup German Open 2011 arena example should look like this:


5. You can save your scenario to a .raf file to be open it again at a later time. You can also export it to gazebo world files in the old gazebo (electric) world format or the new SDF gazebo (fuerte) format.

6. Given you have exported your scenario to a .world file, you can now start the gazebo simulation of it by substituting your file in this command:

roslaunch hector_nist_arena_worlds start.launch world:=go2011_arena.world

7. You can now spawn a robot of your choice into the simulated scenario. This example shows the Hector UGV inside the German Open 2011 arena: Arena_Hector_UGV.png

Report a Bug

Use GitHub to report bugs or submit feature requests. [View active issues]

2024-06-15 12:55