Tutorials/CloudSim/1.1/robot sim

Introduction === This tutorial covers:
 * launch a robot and simulator constellation
 * logging in the robot machine via ssh
 * connect to the simulation using ROS from the robot machine

Prerequisites === This tutorial assumes you are familiar with the previous start a simulation tutorial and have  setup CloudSim.

Launch a robot and simulator constellation ===

Start a new constellation, using the "robot_and_simulator" configuration.

CloudSim will then:
 * Launch 2 machines and install the ROS, Gazebo, drcsim and cloudsim software packages on each of them
 * Setup one machine as the simulator machine, with the ability to start/stop simulation from the CloudSim interface.
 * Setup one machine as the robot machine.
 * Establish a VPN connection from the simulator machine to the robot machine

Your should see a new constellation containing 2 machines appear.



The machines will take about 20 min to provision on the Amazon cloud. Once the machines are up, you can launch a simulation on the simulator machine. Use the default `atlas_utils` package and `atlas.launch` launch file.

Logging in the robot machine via ssh ===

Download the keys zip file, unzip it to a directory and ssh into the robot machine. Replace the name of the file with the one that corresponds to your machine.

mkdir robo_sim_tutorial cd robo_sim_tutorial unzip ~/Downloads/robot_cx0d9534f2.zip . robot_cx0d9534f2/ssh.sh

Inspect the the simulation data using ROS === Once you are logged in to the robot machine, test that you are connected to the simulation. We'll use the ROS command rostopic for this: rostopic list

From the robot machine, you should see the data published from atlas simulation. It should look something like this:

/multisense_sl/stereo_proc_rectify_mono_left/parameter_descriptions /multisense_sl/stereo_proc_rectify_mono_left/parameter_updates /multisense_sl/stereo_proc_rectify_mono_right/parameter_descriptions /multisense_sl/stereo_proc_rectify_mono_right/parameter_updates /rosout /rosout_agg /scan /tf /tf2_buffer_server/cancel /tf2_buffer_server/feedback /tf2_buffer_server/goal /tf2_buffer_server/result /tf2_buffer_server/status /tf_static