Tutorials/CloudSim/drcsim tutorials


 * 1) DRCSim Tutorials

As shown in the previous tutorials, the use of CloudSim, iPython Notebook, and gzweb provide a set of tools for developers to program and interact with robots in simulation directly from the web. With the convenience of these tools, we are now able to perform tasks from the DRCSim tutorials which were previously done within a terminal and the use of a native client for visualization.

Below are a list of DRCSim tutorials to try out but keep in mind a few minor tweaks are needed, see Tweaks and Notes section.
 * 1) Tutorials


 * Fake walking teleoperation: How to drive the DRC robot around as if it were a wheeled robot
 * Using the VRC Plugin to teleoperate the DRC Vehicle
 * Using the VRC Plugin to put Atlas in the DRC Vehicle

A few minor tweaks are needed to run on CloudSim and iPython Notebook:
 * 1) Tweaks and Notes
 * 2) Tweaks


 * When executing commands in iPython Notebook, prefix system shell commands with `!` in iPython Notebook, e.g. `rostopic` becomes `!rostopic`
 * DRCSim tutorials launch tasks using the `roslaunch` command. These should now be replaced by the CloudSim way of launching tasks.

For example

roslaunch drcsim_gazebo atlas_drc_vehicle_fire_hose.launch

translates into the following values in the `Task Properties` dialog when you click `Create Task` in the CloudSim console:

ROS package : `drcsim_gazebo`

Launch file : `atlas_drc_vehicle_fire_hose.launch`


 * 1) Notes


 * `VRC_CHEATS_ENABLED` was used to enable development aid commands in DRCSim, this is not needed as it is already enabled by default in CloudSim.
 * For places that mention installing the DRC simulator, this is no longer necessary as we are running everything through CloudSim.


 * 1) Further Exercises

Taking what you've learned so far, we can apply the knowledge to accomplish a few interesting tasks with Atlas and the DRC vehicle.

1. The Tabletop manipulation tutorial demonstrated the use of sliders in for controlling Altas joints iPython Notebook. Create a new set of sliders for teleoperating Atlas to move around in a similar manner to the Fake walking teleoperation tutorial.

2. Create another set of sliders to control the DRC vehicle the same way as the Using the VRC Plugin to put Atlas in the DRC Vehicle tutorial.