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The rms_youbot_gazebo_environment package contains launch files that can launch an example RMS Gazebo environment for use with the rms. These files will launch the simulator with a youBot world from the rail_worlds package, place a youBot into the world, and start appropriate server nodes (e.g., mjpeg_server). In addition, localization and path planning services are started via the youbot_overhead_localization package.



To install the rms_youbot_gazebo_environment package, simply run the following commands in your shell:

This will ensure all dependencies are met and that the package is ready for use.


Two launch files are included with this package: one to launch everything needed to run the entire server environment, and one to just spawn the robot into an existing Gazebo instance. To launch the entire server environment (i.e., with all server nodes such as rosbridge_server), simply run the following:

If instead you wish to start Gazebo and spawn the robot without starting the actual server nodes, run the following set of commands in two shell sessions:


More detailed instructions are provided for installing, setting up, and running an instance of the youBot RMS Gazebo Environment server. For more information, start with the following tutorial:

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A full list of all RMS related tutorials is provided on the rms stack page.


Please send bug reports to the GitHub Issue Tracker. Feel free to contact me at any point with questions and comments.



2024-07-13 13:21