Launch - abhishekchou/staircase_detection GitHub Wiki

• Start a roscore

roscore

• In a new terminal, launch Gazebo simulator:

mon launch centauro_gazebo simple_staircase.launch

• In a new terminal, start head mounted laser scanner:

rosservice call /robotcontrol/set_laser_speed 2

• In a new terminal, launch SLAM node:

mon launch centauro_launch robot_sim_perception_centauro.launch