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Launching a Gazebo simulation

First of all open a console and source the workspace:

To launch the simulation of the TIAGo Base, execute:

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:

The simulated TIAGo Base can provide the laser scan and sonar readings as depicted below. pmb2_gazebo_rviz.png

2021-01-02 12:27