Package Summary

this package will introduce how use simulation in ROS with xbot demo.

OverView

This tutorial showing how using simulator with xbot demo, also you could modify URDF to make you own robot demo. additionally, you could make a 3D module so that you can simulation in 3D.

    rospack find arbotix

    sudo apt-get install ros-indigo-arbotix

1. launch fake robot

    roslaunch simulation fake_robot.launch

1. launch fake amcl

    roslaunch simulation fake_amcl.launch

3.launch rviz

    roslaunch machine 3D_RVIZ.launch

4. by keyboard control

    rosrun nav_staff keyboard_control.py

4. by robot itself

    roslaunch machine robot_controller_single.launch

X_controller has 2 modules: "FixedModule" and "OnePathModule".
The default module is "FixedModule", which means user will choose several goals, then system will automatic make a fixed path through those goals in sequence. The robot will start run after user giving a message 'True'(bool) from topic '/speaker_done'. Or you could run command:

    rosrun simulation speaker_simulation.py

Otherwise, call class switch_modles_simulation() in testlib under simulation package

fixed-path

"OnePathModule" is the normal way to make a path, once user point a goal, the plan would be generated immediately, and the robot would run immediately by following the path as well. Once user change goal, a new plan would be made immediately, the robot would change it way in seconds too.

one-path

run following command or use class switch_modles_simulation() in testlib under simulation package.

    rosrun simulation switch_modles_simulation.py

    rosrun simulation interactive_marker.py

then use "publish point" to click on map, a cube will come out, and you can drag it moving in map through "interact" button interactive_marker