• ROS Kinetic
• Gazebo 7 Simulator
• gazebo_ros package
• python-control
• python-scipy

Set up a catkin workspace

Clone this repository to your workspace:

cd <catkin_ws>/src
git clone https://github.com/DISCOVERLab/itmp_gazebo_simulation

Make sure everything is initialized:

cd <catkin_ws>
catkin_make
source devel/setup.bash

Launch the simulation with roslaunch itmp_demo test.launch

Run a simple obstacle-avoidance demonstration with rosrun itmp_demo control_wheels.py

Run a simple pick-up demonstration with rosrun itmp_demo simple_demo.py

The robot can also be controlled more directly:

• Move the pioneer model by publishing to the /cmd_vel topic (an easy way to do this is with the teleop_twist package: rosrun teleop_twist_keyboard teleop_twist_keyboard.py

• Lift an object with rosrun itmp_demo control_lift.py pick_up

• Lower an object with rosrun itmp_demo control_lift.py set_down