demos.md

stage_ros2 Demos

launch files

stage

## with /tf
ros2 launch stage_ros2 stage.launch.py world:=cave enforce_prefixes:=false one_tf_tree:=true
## with /robot_0/tf
ros2 launch stage_ros2 stage.launch.py world:=cave enforce_prefixes:=true one_tf_tree:=false

stage and rviz

demo worlds with different robot configurations and rviz configs with one tf tree

ros2 launch stage_ros2 demo.launch.py world:=cave
ros2 launch stage_ros2 demo.launch.py world:=lines
ros2 launch stage_ros2 demo.launch.py world:=cave_three_robots
ros2 launch stage_ros2 demo.launch.py world:=cave_seven_robots

cave	lines	cave_three_robots	cave_seven_robots

teleop joy

ros2 launch stage_ros2 f710.launch.py namespace:='/'       # for a single vehicle world like cave.world
ros2 launch stage_ros2 f710.launch.py namespace:='robot_0' # for a world like cave_multi.world or cave_three_robots.world

parameters on stage_ros2

without parameters

it will start the cave.world

ros2 run stage_ros2 stage_ros2 

with parameters

cd stage_ros2/world
ros2 run stage_ros2 stage_ros2  --ros-args --ros-args \
    -p world_file:=lines.world \
    -p use_static_transformations:=true \
    -p enforce_prefixes:=true \
    -p one_tf_tree:=false

SoftReset

ros2 service call /reset_positions std_srvs/srv/Empty

tmuxinator

you can use the tmuxinator configurations to start some demos like

tmuxinator start -p ./ws01/src/stage_ros2/tmuxinator/cave_three_robots.yml
tmuxinator start -p ./ws01/src/stage_ros2/tmuxinator/cave_one_robot.yml