3. Usage - ErvinZzz/subt GitHub Wiki
1. Launch the simulation world with X1 wheeled robot
ign launch -v 4 competition.ign worldName:=tunnel_circuit_practice_01 circuit:=tunnel robotName1:=X1 robotConfig1:=X1_SENSOR_CONFIG_3
For more official robot model and different sensor equipped please check this page.
For detailed explanation of sensor used and message published please check this page.
To test the control of the wheeled robot X1
rosrun teleop_twist_keyboard teleop_twist_keyboard.py /cmd_vel:=/X1/cmd_vel
2. Launch the SLAM
roslaunch fast_lio mapping_velodyne.launch
3. Launch the Interface and Local Planner
roslaunch vehicle_simulator system_X1_exp_simulation.launch
4. Launch the Exploration Framework
roslaunch tare_planner explore_tunnel.launch