• launch/one_jackal.launch
  • Launches Jackal Gazebo simulation in an empty world. Then control the robot using the interactive markers, or the '2D Nav Goal' button in RVIZ. To open Gazebo, enter 'gzclient' in a new tab. To change the world, set 'world' to a valid file in 'multi_jackal_gazebo/worlds'. Loading a world for the first time might take a while. To change the equipment on the Jackal, set 'config' to a valid file in 'multi_jackal_description/urdf/configs'. The config might require a 'config_id' for further customisation.
  • • ns [default: jackal0]
    • config [default: base]
    • config_id [default: 0]
    • world [default: empty.world]
    • gui [default: false]
    • rviz [default: false]
• launch/two_jackal.launch
  • Launches Jackal Gazebo simulation in an empty world.
  • • gui [default: false]
    • rviz [default: false]
    • ns0 [default: jackal0]
    • ns1 [default: jackal1]
    • config0 [default: front_bumblebee2]
    • config0_id [default: 0]
    • config1 [default: apriltags]
    • config1_id [default: 1]
    • world [default: empty.world]
• launch/jackal_with_gps.launch
  • A bit misleading, all the jackal sims have GPS, but this one uses it to create the map->odom transformation, rather than using a static TF.
  • • ns [default: jackal0]
    • gui [default: false]
    • rviz [default: false]
    • config [default: base]
    • config_id [default: 0]
• launch/three_jackal.launch
  • Launches Jackal Gazebo simulation in an empty world.
  • • gui [default: false]
    • rviz [default: false]
    • ns0 [default: jackal0]
    • ns1 [default: jackal1]
    • ns2 [default: jackal2]
    • config0 [default: front_bumblebee2]
    • config0_id [default: 0]
    • config1 [default: apriltags]
    • config1_id [default: 1]
    • config2 [default: front_laser]
    • config2_id [default: 0]
    • world [default: stuff.world]
• launch/multimaster/multimaster-jackal.launch
  • This is part 2 of a process to simulate robots in seperate ROS masters. This part is the Jackal. Requires the package 'sync_params'. After running multimaster-gazebo.launch, launch with: roslaunch multi_jackal_tutorials multimaster-jackal.launch ns:=jackal0 -p 11312 To view RVIZ from the robots point of view: ROS_MASTER_URI=http://localhost:11312 roslaunch multi_jackal_tutorials rviz.launch
  • • ns [default: jackal0]
• launch/multimaster/multimaster-gazebo.launch
  • This is part 1 of a process to simulate robots in seperate ROS masters. This part is the Gazebo simulator. Requires the package 'sync_params'. Launch with: roslaunch multi_jackal_tutorials multimaster-gazebo.launch -p 11311 And run the multimaster-jackal.launch in a new tab.

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