Embedded Motion Control 2013/Simulator

Installation

If you followed all steps specified on the installation page , you will already have downloaded the simulator Gazebo and our specific Jazz simulator. To be able to use the Jazz simulator, you first have to compile the downloaded ROS packages:

1. Open a terminal (ctrl-alt-t)
2. Navigate to the jazz_gazebo ROS package:

   roscd jazz_gazebo

3. And build and compile it and its dependencies:

   rosmake

Furthermore, Gazebo needs to know where to find the robot description (located in jazz_description) which includes its meshes, textures, kinematic chain, etc, and where to find the plugins for the controllers and sensors. This information can be set in the environment variables GAZEBO_PLUGIN_PATH and GAZEBO_MODEL_PATH:

1. Open a terminal (ctrl-alt-t)
2. Open .bashrc:

   gedit ~/.bashrc

3. Add the following lines:

   export GAZEBO_PLUGIN_PATH=~/ros/general/jazz_gazebo/lib:~/ros/general/tue_gazebo_plugins/lib:$GAZEBO_PLUGIN_PATH

   export GAZEBO_MODEL_PATH=~/ros/general/jazz_description:$GAZEBO_MODEL_PATH