A Very Simple Robot Simulator

A very simple robot simulator that uses cmd_vel_mux nodelet and implements a Kinect like simulator

Install

cd <your_catkin_ws>/src
git clone https://github.com/gasevi/yocs_cmd_vel_mux.git
git clone https://github.com/gasevi/very_simple_robot_simulator.git
cd ..
sudo apt-get install python3-pil python3-pil.imagetk
rosdep install --from-paths src --ignore-src --rosdistro $ROS_DISTRO
catkin_make

Include package in your ROS environment

echo "source <your_catkin_ws>/devel/setup.bash" >> .bashrc 
source .bashrc

Operation Modes

• Idle mode: non interactive interface
• Add Wall mode: press 'w' key to draw a wall on the map with the mouse pointer.
• Delete Wall mode: press 'd' key to delete a wall.
• Set Robot Pose mode: press 'p' key to change the robot pose. Drag and drop the robot to change the position. Click outside the robot to change its orientation.

Architecture