Warehouse inventory with Gazebo simulator

This project executes a mission (written in Python) with Gazebo simulator while using self localization, mapping and path generation with Lidar, as well as the QR recognizer.

In order to execute this test, perform the following steps:

• Install the Aerostack project called "warehouse_inventory_gazebo".

• Change directory to this project:

    $ cd $AEROSTACK_STACK/projects/warehouse_inventory_gazebo
  

• Install the components (be sure that you have installed move base and hector slam):

    $ ./lidar_instalation.sh
  

• Execute the script that launches Gazebo for this project:

    $ ./launcher_gazebo.sh
  

• Execute the script that launches the Aerostack components for this project:

    $ ./main_launcher.sh
  

• In order to run the mission you have to execute the following command:

    $ rosservice call /drone111/python_based_mission_interpreter_process/start
  

The following video illustrates how to launch the project:

Here there is a video that shows the correct execution of the mission, with the camera view and the lidar map:

Here there is a video that shows the correct execution of the mission, with the content of belief memory viewers and behavior execution viewers during the mission execution.