Running Code

Running Code

The USARSimROS node is made up of several different applications. Each application may be run independently and has its own launch files. More information on the individual applications is provided below.

Robotic Arms

The interface attempts to provide all of the tools necessary for self-discovery of USARSim robotic arms. This is accomplished by automatic [URDF Generation] (work in progress) and automatic generation of the inverse kinematic chain for the arms (work in progress). More information on how to run robotic arms may be found in the page [Robotic Arms].

ROSNavigation

The interface provides for self-discovery of robotic platforms and sensors. The standard ROS navigation stack may then be used for map generation and planning. Information on how to run the ROS navigation stack with USARSim is provided on the page [ROSNavigation].

Other tools

The interface provides a tool for switching the coordinate system from the Unreal Engine default (positive z-axis points down) to the ROS standard (positive z-axis points up). For details, see the [Coordinate system] page.