Running the Simulator¶
To run the simulator, the basic steps are: start a roscore and ros bridge, start Unity in play mode and then bring up the rest of the ROS robot communication robot control nodes.
Start all the ROS with the command
roslaunch social_sim_ros jackal_demo.launch.
Note in development, it may be useful to run the necessary commands in their own shell windows, in which case the
tmuxinator configurations in the sim_ws project may be used.
Open the Unity editor, open the
Alternatively, if you have the Unity binary, running the binary replaces the editor play button
Press the play button.
You should see a map in rviz.
*If you don’t see a map, first check the Unity editor console for the “Connect to RosBridge” message. If instead, you see a “Failed to connect to RosBridge” message, then press the play button to stop the simulation and then press play again to restart it.
Set a goal position using the
2D Nav Goalbutton.
The robot should move to the goal position!
You’re now ready to run a trial.
A user can control a human avatar by launching an
AgentControl* scene. For example, open
Allow the robot to move around the person by launching the Kuri Demo:
roslaunch social_sim_ros kuri_demo.launch