CMP9767M

Launching the Simulation

• Simple environment without obstacles, single robot, and fake localisation:

  roslaunch uol_cmp9767m_base thorvald-sim.launch obstacles:=false second_robot:=false fake_localisation:=true
  

  First two parameters are also the default, so can be launched also as

  roslaunch uol_cmp9767m_base thorvald-sim.launch fake_localization:=true
  roslaunch uol_cmp9767m_base thorvald-sim.launch fake_localisation:=true
  

• Simple environment without obstacles, two robots, and fake localisation:

  roslaunch uol_cmp9767m_base thorvald-sim.launch obstacles:=false second_robot:=true fake_localisation:=true
  

• Realistic environment with obstacles, single robot, and fake localisation (to truly show real navigation abilities, set fake_localisation:=false and provide your own map and robot localisation solution):

  roslaunch uol_cmp9767m_base thorvald-sim.launch obstacles:=true second_robot:=false fake_localisation:=true
  

• Realistic environment with obstacles, two robots, and fake localisation (to truly show real navigation abilities, set fake_localisation:=false and provide your own map and robot localisation solution):

  roslaunch uol_cmp9767m_base thorvald-sim.launch obstacles:=true second_robot:=true fake_localisation:=true
  

  Also available as video.

• If you intend to run a real localisation system (e.g. amcl) based on maps then set fake_localisation:=false. If you want to use the provided simple map, you may additionally set map_server:=true.