Simulation Testing

Running the launch file

To run the VRX simulation environment, run the following command. Remember to source your setup.bash file.

ros2 launch all_seaing_bringup sim.launch.py

A Gazebo simulation environment, RViz 3D visualizer, and a keyboard popup window will open up. If you have the keyboard popup window selected, you can press Enter to toggle between autonomous and teleop mode, and press Space to E-stop. While in teleop mode, use the WASDQE keys to control the boat.

Force-quitting the simulation environment

Typically, ctrl+c is enough to stop running the simulation. However, there are some occasions where ctrl+c gets "stuck." In this case, press ctrl+\ to force-quit.

When force-quitting, some processes (primarily gazebo) may continue to run in the background. To kill unwanted processes, install htop, an interactive process viewer:

sudo apt update && sudo apt install htop

Now run htop and navigate to the unfinished processes (look for anything with gazebo or gz sim) with the arrow keys and press F9 to kill.

Back: Building and Sourcing Packages	Top: Tutorials	Next: Real-world Testing