Launching a Gazebo simulation
First of all open a console and source the workspace:
To launch the simulation of the TIAGo Base, execute:
roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true
With the simulation of TIAGo Base we are providing several pre-defined worlds which stress different aspects of navigation systems. You can find a list of these here.
Now let's launch the TIAGo Base simulation in a large corridor as follows:
roslaunch pmb2_gazebo pmb2_gazebo.launch public_sim:=true world:=large_corridor
The simulated TIAGo Base can provide the laser scan and sonar readings as depicted below.