hmrs_hospital_sim_morse

Install Dependencies

• Install ROS1 http://wiki.ros.org/kinetic/Installation/Ubuntu
• Install Aditional Dependencies
• Install Morse

sudo apt install morse-simulator python3-morse-simulator
sudo apt install ros-melodic-navigation ros-melodic-navigation 

Setup Environment

Import simulation

 morse import morse_hospital_sim

Clone motion_ctrl

git clone ....

Execution

For executing the simulation you need to

1. In a terminal setup ros1 with 'initros' and then start 'roscore'

   
   initros
   roscore

2. In another tertminal init the simulation
```console
initros
morse run morse_hospital_sim

3. Start ros robots controllers

Initing ros robot controllers

Note that motion_ctrl needs to be in ROS_PACKAGE_PATH

export ROS_PACKAGE_PATH=$ROS_PACKAGE_PATH:`pwd`
roslaunch motion_ctrl sim.launch 
roslaunch motion_ctrl base_navigation.launch

Troubleshooting

. Command 'roscore' not found, but can be installed with: Check if you had executed 'initros' in the current terminal.

. No module named 'rospy' error in the beginning of the simulation. Check if you had executed 'initros' in the current terminal.

"This work was financed in part by FAPDF under Call 03/2018."