ROS launch scripts to run the Programming Robots Study Group robot (PRSG2) in the STDR simulator. This is a self-contained ROS node.

Prerequisite: The STDR package must be installed on your ROS system. These should be available on your Ubuntu system (e.g. apt-cache search stdr). If you are using the ServoPose read and write services (so that your sensors can move on servos), install from source.

Installation: Copy the stdr_prsg2/ directory tree into your ROS catkin_ws/src/ directory. Then perform a catkin_make to install. This uses ROS Kinetic, but other versions will likely work.

Directories:

• launch/

  • stdr_prsg2.launch is the main launch script that creates the PRSG robot in a maze, begins bagging topics and starts a teleop node so that you drive the robot around. Usage: roslaunch stdr_prsg2.launch. To turn off bagging: roslaunch stdr_prsg2.launch record_sensors := false

  • rviz.launch launches rviz with the robot displayed on the maze. Usage: after stdr_prsg2.launch has been launched, in a different window: roslaunch rviz.launch

  • plotbag_stdr.py is python script that plots the rosbag of topic data collected from stdr_prsg2.launch. Edit the file so that bagfile points to the created bag file.

• robots/ is where the PRSG2 robot model YAML files are located.

  • prsg2_jay_robot.yaml is the YAML file for Jay's two servo-mounted IR sensor robot.