YashKSahu / leo-marsyard

Leo Rover Vanilla

1. Clone

git clone https://github.com/PUT-UGV-Team/leo-marsyard.git

2. Remove /build, /devel and /logs folders if they still exist

cd leo_vanilla
cd leo_ws
rm -rf build devel logs
cd ..

3. Create a folder in .gazebo and copy model of terrain to gazebo models folder

cp -r leo_ws/src/leo/leo_gazebo/models/terrain/* $HOME/.gazebo/models/terrain/
cd $HOME/.gazebo/models/terrain/meshes
wget --load-cookies /tmp/cookies.txt "https://docs.google.com/uc?export=download&confirm=$(wget --quiet --save-cookies /tmp/cookies.txt --keep-session-cookies --no-check-certificate 'https://docs.google.com/uc?export=download&id=1BkFel0FbazgMBX4ESszcX8o3YBbMmQ6J' -O- | sed -rn 's/.*confirm=([0-9A-Za-z_]+).*/\1\n/p')&id=1BkFel0FbazgMBX4ESszcX8o3YBbMmQ6J" -O model4.obj && rm -rf /tmp/cookies.txt

4. Build workspace

catkin_make

5. Source workspace

source devel/setup.bash

6. Run Gazebo simulation

roslaunch leo_gazebo leo_marsyard.launch

7. Open another terminal and run rviz

roslaunch leo_viz rviz.launch