Install the iri_core dependencies following the instructions in the [iri_ros_how_to](https://gitlab.iri.upc.edu/labrobotica/ros/iri_ros_how_to) repository.
From an existing workspace ([tutorial](http://wiki.ros.org/catkin/Tutorials/create_a_workspace))
Merge your workspace with the following rosinstall files following the steps in this [tutorial](http://wiki.ros.org/wstool#Merge_in_Additional_rosinstall_Files).
Compile the newly downloaded packages with the following command:
Compile the workspace
```
roscd
cd ..
catkin_make
catkin_make
```
Once the setup process is complete, start the simulator with the following command:
## Usage
### Simulation
```
roslaunch iri_ana_gazebo sim_sample.launch
```
This command should launch the robot with all its sensors in an empty environment with the RVIZ pre-configured to show all
sensor data. The name and namespace of all topics, services and actions are exactly the same as in the real robot, although
not all of them are available.
A complete list of all ROS interfaces is shown [here]().
# How to use the real robot
Default Gazebo world is `empty.world`.
The robot's on-board computer has all the necessary ROS nodes to operate the robot
and it is fully configured.
You can choose a different world specifying the _world_name_ argument with `world_name:=brl`.
IMPORTANT: when using the real robot, make sure you follow all the procedures listed [here]()
to start, operate, shut down and handle the batteries.
See our available worlds in `iri_gazebo_worlds/worlds/*.world`
There are two ways to connect to the robot using an external computer:
### Real robot
* Wireless: the robot creates a hot spot
The robot's on-board computer has all the necessary ROS nodes to operate the robot and it is fully configured.
* Cable:
IMPORTANT: when using the real robot, make sure you follow all the procedures listed above in this file.
Once connected to the same network, configure the external computer following the instructions
in this [tutorial](http://wiki.ros.org/ROS/Tutorials/MultipleMachines).
At this point, you should have acces to all the topic, services and actions provided by the robot.
A complete list of all ROS interfaces is shown [here]().
### What to do next
## What to do next
All the tutorial included in this section can be used both in simulation or with the real robot.
All the tutorials included in this section can be used both in simulation or with the real robot.
* To teleoprate the robot, follow the instructions in this [tutorial](https://gitlab.iri.upc.edu/labrobotica/ros/robots/ana/iri_ana_launch/blob/master/README.md)
...
...
@@ -140,11 +108,6 @@ All the tutorial included in this section can be used both in simulation or with
* To navigate the robot in the new environment, follow the instructions in this tutorial[]
Some tutorials specific to the simulated robot:
* To change the simulated environment edit the [] file and
# Developers
For advanced users and developers, [here]() there is a more in depth information about the Ana robot
and all its dependencies.
For advanced users and developers, [here]() there is a more in depth information about the robot and its dependencies.
