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README.md

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The ROS Acoustics Package

Running a basic acoustics demo with Gazebo

  1. Create a valid ROS2 workspace using colcon.
  2. Clone this repo inside your src folder.
  3. Add sprintbot-model and optionally key_teleop packages in your src folder from here
  4. Build these 3 packages using colcon build.
  5. Source the workspace: source install/setup.bash
  6. Launch: ros2 launch ros_acoustics gazebo_test_launch.py. You should be able to see gazebo with a sprintbot and some objects.
  7. In another terminal, get the acoustic waveform by running ros2 run ros_acoustics basic_test.py
  8. Optionally, you can teleop sprintbot by running this in another terminal: ros2 run key_teleop key_teleop

Note: Make sure gazebo is installed using sudo apt install ros-foxy-gazebo-ros*

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