Closed rllyryan closed 2 years ago
First, clone aws_robomaker_small_warehouse_world
into your catkin workspace, build + source:
cd <your-catkin-ws>/src
git clone -b ros1 https://github.com/aws-robotics/aws-robomaker-small-warehouse-world.git aws_robomaker_small_warehouse_world
cd ..
catkin b
source devel/setup.bash
Now you can run the demos from the README like this:
roslaunch mir_empty_world.launch world_name:=$(rospack find aws_robomaker_small_warehouse_world)/worlds/no_roof_small_warehouse.world
rosservice call /gazebo/unpause_physics # or click the "start" button in the Gazebo GUI
roslaunch mir_navigation amcl.launch
roslaunch mir_navigation start_planner.launch \
map_file:=$(rospack find aws_robomaker_small_warehouse_world)/maps/005/map.yaml \
with_virtual_walls:=false
rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz
roslaunch mir_empty_world.launch world_name:=$(rospack find aws_robomaker_small_warehouse_world)/worlds/no_roof_small_warehouse.world
rosservice call /gazebo/unpause_physics # or click the "start" button in the Gazebo GUI
roslaunch mir_navigation hector_mapping.launch
roslaunch mir_navigation move_base.xml with_virtual_walls:=false
rviz -d $(rospack find mir_navigation)/rviz/navigation.rviz
@mintar thank you so much for your assistance! Have a great week ahead!
Dear to whom it may concern,
I am having problems trying to spawn the MiR robot into the small warehouse world provided by AWS. For starters, I don't really have a good idea on how to modify the launch files so that the corresponding world file is used.
Here is the link to the repository: https://github.com/aws-robotics/aws-robomaker-small-warehouse-world
Could I please get some advice/help on how to go about this? (For example, which files to edit, what lines to add, etc)
Thank you :)