Titan Rover Misc

Launching the Simulation

1. Navigate to the "ros" directory.

   • This directory becomes the catkin workspace.
   • Alternatively, copy the contents of the "src" directory into the "src" directory of an existing catkin workspace, and navigate to the top-level directory of that workspace.

2. Source the setup script.

   • source ./devel/setup.bash
   • This can be added to your bashrc for convenience.

3. Use roslaunch on the launch file.

   • By default, only common components will be simulated (located in common_models).
   • To specify a specific mode to run, add an argument at the end of the roslaunch command:
   • roslaunch sim_world desert.launch mode:=<run_mode>
   • <run_mode> := common_models | arm_mode |auto_mode