This tutorial describes how to get multiple simulated Pioneer AT platforms running in Gazebo.
- Gazebo ROS tutorials: http://gazebosim.org/tutorials?cat=connect_ros
- You will need Gazebo installed with ROS support.
Install the amr-ros-config tools https://github.com/MobileRobots/amr-ros-config
- git clone
- The code for these examples is in https://github.com/bsb808/nre_p3at. You will want to clone that repository in your catkin_ws/src directory
Single P3AT: Gazebo, RVIZ and Keyboard Control
Terminal 1: Start gazebo simulator, spawn the P3AT model (using the robot description from amr_robots), start publisher nodes and start rviz
Terminal 2: Start a keyboard controller that issues commands to the simulated P3AT
Changing the World
The p3at.gazebo.launch file is setup to take and argument called "world_name" which you can use to specify the Gazebo world model. Gazebo comes with some default world models which are typically stored in the directory /usr/share/gazebo-2.2/worlds. Here is an example of how to provide an argument to use a different world.
Can you drive out from under the shape?
How would you change the initial position of the robot?
Multiple Robots N=2
Terminal 1: Start Gazebo, controllers, etc.
Terminal 2: Drive robot p0
Terminal 3: Drive robot p1