Overview

This tutorials shows how to start a small differential drive robot inside a maze environment in gazebo simulation. The robot performs autonomous exploration of this environment.

Setup

Prerequisites

Everything needed is available in tu darmstadt ros pkg, you can thus check the repo out:

svn checkout http://tu-darmstadt-ros-pkg.googlecode.com/svn/trunk tu-darmstadt-ros-pkg

Building

Build the following package:

rosmake hlugv_gazebo_launch 

Running it

A simple maze exploration demo can now be started:

roslaunch hlugv_gazebo_launch hlugv_lidar_maze_exploration.launch