Simulator - Pitt-RAS/iarc7_common GitHub Wiki

The simulator is based on MORSE, which uses Blender's rendering engine and the Bullet physics engine. It simulates all of Mission 7, including all of the ground robots and all of the drone's sensors.

To run the simulator, just type roslaunch iarc7_launch base_hardware.launch sim:=true. Note that this doesn't make any of the robots do anything, so the ground robots and the drone will just sit there after the simulator has been launched. To make the drone move, try roslaunch iarc7_launch takeoff_translate_land.launch sim:=true. To make the ground robots move, run rosrun iarc7_simulator roomba_controller.py after the simulator has been launched with one of the above commands.

All of the code for the simulator can be found in the iarc7_simulator package. There are two nodes launched by the main simulator launchfile morse.launch:

• /morse: node launched internally by MORSE that publishes data from simulated sensors into ROS and takes in commands for simulated actuators
• /simulator_adapter: node that does some translation of our datatypes into standard ROS datatypes that MORSE uses and vice versa