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You will need a so-called world file which contains a description of the virtual environment and the characteristics of your simulated robot. The stage package contains a suitable demo world file. You must start Stage with the world file as argument, e.g.

rosrun stage stageros `rospack find stage`/world/willow-erratic.world

Now you can receive on the /base_scan topic and publish to the /cmd_vel topic with your own program.

If you want to create your own world file, you need a position and laser model for your robot and a suitable floor plan (usually a bitmap) that encodes the obstacles. For the exact syntax, you can read the manual or look at the existing world files.

You will need a so-called world file which contains a description of the virtual environment and the characteristics of your simulated robot. The stage package contains a suitable demo world file. You must start Stage with the world file as argument, e.g.

rosrun stage stageros `rospack find stage`/world/willow-erratic.world

Now you can receive on the /base_scan topic and publish to the /cmd_vel topic with your own program.

If you want to create your own world file, you need a position and laser model for your robot and a suitable floor plan (usually a bitmap) that encodes the obstacles. For the exact syntax, you can read the manual manual or look at the existing world files.