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Simple environment without obstacles, single robot, and fake localisation:
roslaunch uol_cmp9767m_base thorvald-sim.launch obstacles:=false second_robot:=false fake_localisation:=true
First two parameters are also the default, so can be launched also as
roslaunch uol_cmp9767m_base thorvald-sim.launch fake_localization:=true roslaunch uol_cmp9767m_base thorvald-sim.launch fake_localisation:=true
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Simple environment without obstacles, two robots, and fake localisation:
roslaunch uol_cmp9767m_base thorvald-sim.launch obstacles:=false second_robot:=true fake_localisation:=true
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Realistic environment with obstacles, single robot, and fake localisation (to truly show real navigation abilities, set
fake_localisation:=false
and provide your own map and robot localisation solution):roslaunch uol_cmp9767m_base thorvald-sim.launch obstacles:=true second_robot:=false fake_localisation:=true
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Realistic environment with obstacles, two robots, and fake localisation (to truly show real navigation abilities, set
fake_localisation:=false
and provide your own map and robot localisation solution):roslaunch uol_cmp9767m_base thorvald-sim.launch obstacles:=true second_robot:=true fake_localisation:=true
Also available as video.
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If you intend to run a real localisation system (e.g. amcl) based on maps then set
fake_localisation:=false
. If you want to use the provided simple map, you may additionally setmap_server:=true
.
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