[TOC]

Scout Simulation Operation Process

SLAM in Gazebo and Rviz

1. Introduction of Function Package

├── scout_control
├── scout_description
└── scout_gazebo_sim

​ scout_gazebo_sim：The folder is gazebo simulation function package

​ scout_control: The folder is simulation controller function package

​ scout_description: The folder is the function package of model file

2. Environment

Development Environment

​ ubuntu 20.04 + ROS Noetic desktop full

Download and install required function package

​ Download and install packages provided by ROS:

sudo apt-get install ros-noetic-ros-control ros-noetic-ros-controllers ros-noetic-gazebo-ros ros-noetic-gazebo-ros-control ros-noetic-joint-state-publisher-gui ros-noetic-teleop-twist-keyboard ros-noetic-velodyne-description ros-noetic-velodyne-simulator ros-noetic-gmapping ros-noetic-pointcloud-to-laserscan ros-noetic-teb-local-planner ros-noetic-dwa-local-planner ros-noetic-move-base

3. About Usage

If you already have ROS workspace configured, go to the src folder and clone agilex_scout_sim repository content:

cd catkin_ws/src
git clone https://github.com/PurplePegasuss/agilex_scout_sim.git

Return to the catkin_ws folder and build the prepared packages:

cd ..
source /opt/ros/noetic/setup.bash
catkin_make

Source build files:

source devel/setup.sh

Launch simulation:

roslaunch scout_gazebo_sim scout_mini_playpen.launch