Launching a demo - LCAS/bacchus_lcas GitHub Wiki

Launch a demo

In order to launch a mockup simulation of a vineyard, please run

roslaunch bacchus_gazebo vineyard_demo.launch

To change the world you can modify the "world_name" parameter inside the launch file. Multiple robots are currently supported; they can be specified inside the launch file or passing an argument to roslaunch

roslaunch bacchus_gazebo vineyard_demo.launch robot_name:=rb_sherpa

The model currently implemented are: thorvald_001, rbvogui, rbvogui_one_arm, rbvogui_xl, rbvogui_xl_two_arms.

Manual teleoperation of thorvald (optional)

At this stage, you should be able to control manually the robot with the keyboard. To do so run:

rosrun teleop_twist_keyboard teleop_twist_keyboard.py cmd_vel:=/thorvald_001/nav_vel