Lizi_Gazebo

Bring-up a robot in the Gazebo simulation environment

Setting the gazebo to true will bring-up the robot in the Gazebo simulation environment. All other arguments will work exactly the same but now the sensors and the capabilities will work in simulation instead with the real robot. All the topics, services and actions will keep the same name and functionality.

For example, if you want the robot from the example in the previous tutorial but now in simulation, just add gazebo:=true to your arguments:

$ roslaunch lizi lizi.launch lidar:=true depth_cam:=true gazebo:=true

Aditional arguments that can be used with gazebo:
x,y,z,R,P,Y - Initial position and orientation of the robot.

world_name - By default, the worlds/empty.world will be loaded. You can specify a new world file name with respect to GAZEBO_RESOURCE_PATH environmental variable or a full path to any other world file.

next: Read and visualize your robot sensors

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