The segbot_gazebo_concert package provides a simple demo which demonstrates running the Robotics in Concert framework with multiple simulated robots in Gazebo.

Installation

• You'll need to install the Robotics in Concert framework. Follow the instructions at rocon/Tutorials/indigo/Installation to install hydro-devel sources into your catkin workspace.

• Install all the code from the UTexas BWI project (As of May 3 2014, this package is only available in ros-shadow-fixed):

  sudo apt-get install ros-hydro-bwi-desktop

• Install the UTexas Rocon code using this rosinstall entry:

  - git: {local-name: bwi_guidance, uri: 'https://github.com/utexas-bwi/bwi_guidance.git', version: master}
  - git: {local-name: rl_pursuit, uri: 'https://github.com/utexas-bwi/rl_pursuit.git', version: master}
  - git: {local-name: segbot_rocon, uri: 'https://github.com/utexas-bwi/segbot_rocon.git', version: master}

Running the demo

You can launch the Gazebo Concert Demo using the following command:

• rocon_launch segbot_gazebo_concert gazebo.concert --screen

If all goes well, you should see 2 segway robots running around in (not-so-perfect) squares inside the Gazebo visualizer.