Simulator

The simulator profile is similar, again, but in this case you do not need a physical robot. Instead, you will run a simulation of the robot and control this.

Getting Started

On a workstation, install ROS, install the MDK, and then install Gazebo.

You will need a ROS master running on your workstation, so open a window and proceed as follows.

$ roscore ...

You will now be able to run the simulation by following the procedure below in a second window.

$ cd ~/mdk/sim $ ./launch_sim.sh ...

The simulator will start, as shown.

Once the simulation is running, you can control the simulated robot much as you would the physical robot, by proceeding as follows in a third window.

$ cd ~/mdk/bin/shared $ ./client_test.py yaw ...

Note the limitations of the simulator versus the physical robot.

Simulation parameters

A configuration file is installed at ~/.miro2/config/simulation_parameters which provides some control over the simulator.

frame
Override the default camera configuration at simulator start-up.
use_wideanglecamera_eyes
A value of 1 causes the simulator to use a wide-angle camera model that closely matches the cameras on the physical robot. This model produces somewhat less clear images, however—if you want a clearer image and are less concerned about matching the robot's cameras, you can turn this off to use a narrow-angle camera model. For this reason, the default is to use the narrow-angle model.
enable_*
Disabling sensors that are not in use may reduce processor load.