ROS packages used to run the Copernicus in simulation

• copernicus_simulation - Gazebo simulation world file.

• To bring up a gazebo world, launch the gazebo node by running:

$ roslaunch copernicus_simulation gazebo.launch 

• Once the gazebo simulation environment is launched, run the following to spawn the copernicus robot:

$ roslaunch copernicus_simulation simulation.launch 

• For visualization, launch rviz by running:

$ rosrun rviz rviz

The configuration file, copernicus.rviz which is located under copernicus_description->rviz_params, can be opened in the rviz tool to load the copernicus configured rviz environment

• In order to start the teleoperation node using keyboard, run the following:

$ roslaunch copernicus_teleoperator teleoperator.launch keyboard:=true 

• To launch the joystick node, set the keyboard argument to False (Default case:= false) or run the following:

$ roslaunch copernicus_teleoperator teleoperator.launch

• Once the gazebo world is launched and the copernicus robot is spawned into the simulation environment, the mapping node can be launched by running:

$ roslaunch copernicus_navigation navigation.launch gmapping:=true

• This will launch the gmapping node. On a separate terminal, launch the rviz visualization tool by running:

$ rosrun rviz rviz

You can then open the copernicus configured rviz environment by opening the copernicus rviz config file, located under copernicus_navigation->rviz_config->navigation.rviz, from the rviz tool

• In order to control the robot, launch the teleoperation node by running:

$ roslaunch copernicus_teleoperator teleoperator.launch keyboard:=true 

• Once the mapping of the entire environment is completed, the map can be saved by running:

$ roslaunch map_server map_saver –f <filename>

• Once the gazebo world is launched and the copernicus robot is spawned into the simulation environment, the navigaation node can be launched by running:

$ roslaunch copernicus_navigation navigation.launch 

• This will launch the navigation node. On a separate terminal, launch the rviz visualization tool by running:

$ rosrun rviz rviz 

You can then open the copernicus configured rviz environment by opening the copernicus rviz config file, located under copernicus_navigation->rviz_config->navigation.rviz, from the rviz tool

Use the 2D Nav Goal tool in the top toolbar to select a navigation goal in the visualizer. Ensure that the nav goal is given in a mapped section of the map