Robotics Class 2011/Assignment 4

The rumor is that something bad is going on in the secret underground HacDC antiquities warehouse. The security guards have written a memo describing recent sightings of artifacts in the warehouse "moving by themselves". They have come to us, the robotics experts, to see if we can't provide them with a robot that can make the rounds in the warehouse keeping an eye out for mysterious paranormal activities.

The last assignment illustrated the commands required to start up gazebo and also to check out the irobotron_description ROS package from the HacDC repository. However, we will make a slight adjustment to the command line for starting up gazebo. The reason is that we will start up in a simulated world that happens to have the same rooms and structure of the secret underground HacDC antiquities warehouse. You can start gazebo in the following way:

roslaunch gazebo_worlds simple_office2.launch

Once gazebo is up and running and you next need to insert the robot into the simulation. If you have not checked out the irobotron_description ROS package, you can do so with the following command:

cd to where you store your downloaded ROS packages svn co http://hacdc-ros-pkg.googlecode.com/svn/trunk/irobotron_description rosmake irobotron_description

However, if you have already checked it out, follow these modified instructions to update the package as recent changes have been made to it:

cd to where you store your downloaded ROS packages svn update rosmake irobotron_description