To get the simulation you will need this and the main (Rover_II) repository and their dependencies. (joy, teleop_twist_joy, teleop_twist_keyboard, roboticsgroup_gazebo_plugins, urdf_tutorial).

To launch the simulation use the command

roslaunch rover_sim simulation_joy.launch

To use another world in the simulation you will have to have a built world <world_name> in the worlds folder. You can start the simulation by adding the world parameter in the commandline

roslaunch rover_sim simulation_joy.launch world:=<world_name>

More information on how to create a new world.

There should be a GUI where you can change the speed (linear, angular)

Keep A pressed and use the left joystick to drive around. Activate Powermode by holding B instead of A

Drive forward by pressing i in the terminal you used to launch the simulation. Hold q (10 lines) to show detailed instructions

not needed anymore I had problems to build this plugin because I had a protobuf version which was not compatible with gazebo I suppose. I solved the issue by downgrading my current version of libprotobuf-dev to the version 3.0.0 I did that by executing the command

sudo aptitude remove libprotobuf-dev

and then you will have to reject all the possible solutions (with n) until you reach the solution where it says it will downgrade. I made the error and removed protobuf and all the packages which depended on it and after that i was not able to boot into a desktop environment because ubuntu-desktop depends on it. You will need aptitude for that.

To use the joystick there has to be a device /dev/input/js0. If for some reason your joystick device is located somewhere else or it has another name you could change the device in the launch-file.