Firstly, assuming you have already installed ROS Groovy and MORSE 1.x.x.

Then you need two additional packages p2os and exploration:

git clone
svn co

Finally, download the attachment (yz_morse_sim), decompress it and enter into the folder morse_sim.

Now, let’s start the simulation!

1. Launch roscore in a terminal window:


2. Launch MORSE simulator in a new terminal window:

morse run

3. Launch ROS nodes in a new terminal window (This step will also launch gmapping and rivz):

roslaunch single_robot.launch

4. Save the map if you want, in a new terminal window:

rosrun map_server map_saver


Leave a reply


<a href="" title=""> <abbr title=""> <acronym title=""> <b> <blockquote cite=""> <cite> <code> <del datetime=""> <em> <i> <q cite=""> <strike> <strong>