Gazebo simulation

• Open a terminal and go to the itasc_erf_2012 package:

roscd itasc_erf2012_demo/

• Run the script that starts the gazebo simulator (and two translator topics to communicate with the itasc code)

./run_gazebo.sh

• Open another terminal and go to the itasc_erf_2012 package:

roscd itasc_erf2012_demo/

• Run the script that starts the itasc application

./run_simulation.sh

Real youbot

• Make sure that you are connected to the real youbot.
• Open another terminal and go to the itasc_erf_2012 package:

roscd itasc_erf2012_demo/

• Check the name of the network connection with the robot (for instance eth0) and put this connection name in the youbot_driver cpf file (cpf/youbot_driver.cpf)
• Run the script that starts the itasc application

./run.sh