You don't need a physical robot to run the following demos.

roslaunch kalbv3_config bringup.launch rviz:=true

roslaunch champ_teleop teleop.launch

If you want to use a joystick add joy:=true as an argument.

roslaunch kalbv3_config gazebo.launch 

roslaunch kalbv3_config slam.launch rviz:=true

To start mapping:

• Click '2D Nav Goal'.

• Click and drag at the position you want the robot to go.

  

• Save the map by running:

  roscd kalbv3_config/maps
  rosrun map_server map_saver
  

roslaunch kalbv3_config gazebo.launch 

roslaunch kalbv3_config navigate.launch rviz:=true

To navigate:

• Click '2D Nav Goal'.

• Click and drag at the position you want the robot to go.

  

Run Gazebo and default simulation world:

roslaunch champ_gazebo spawn_world.launch 

You can also load your own world file by passing your world's path to 'gazebo_world' argument:

roslaunch champ_gazebo spawn_world.launch gazebo_world:=<path_to_world_file>

Spawning a robot:

roslaunch kalbv3_config spawn_robot.launch robot_name:=<unique_robot_name> world_init_x:=<x_position> world_init_y:=<y_position>

• Every instance of the spawned robot must have a unique robot name to prevent the topics and transforms from clashing.

❗ This is not an official product from the robot's company/author.