You'll need to create a virtual CAN interface to simulate the CAN interface on the robot
./sysops/create_virtual_can.sh vcan0
Append the following to /etc/modules
:
can
can_raw
vcan
Append the following to /etc/network/interfaces
:
allow-hotplug can1
auto can1
iface can1 can static
pre-up /usr/bin/env config-pin overlay cape-universaln
pre-up /usr/bin/env config-pin P9.24 can
pre-up /usr/bin/env config-pin P9.26 can
bitrate 1000000
samplepoint 0.875
Build the nodes and run with simulated motors
./build.sh
roslaunch goldorak_bringup goldorak.launch simulated_motors:=true
Then, you can give target points to the robot via the monitoring interface
roslaunch goldorak_bringup monitor.launch
The robot can also be simulated using Gazebo. In this case, the differential base control and odometry are handled by ROS Control. Higher level nodes will run as on the robot.
Run the simulation
roslaunch goldorak_simulation goldorak.launch
For dependencies, you should look at the setup guidelines in Setup.md
.