Setting up the simulator

Please ensure you have completed the installation of relevant packages.

Creating a launch file

NOTE: You can also use the launch file in the package that we have built. look at this for installation.

• Create a folder named launch in a catkin package you have created.
• In that folder, create a file named simulator.launch.
• Copy and paste what's given below to the launch file that you have created.

<launch> 
 <include file="$(find gazebo_ros)/launch/empty_world.launch"> 
   <arg name="world_name" value="$(find cvg_sim_gazebo)/worlds/ardrone_testworld.world"/> 
 </include> 
 <include file="$(find cvg_sim_gazebo)/launch/spawn_quadrotor.launch" > 
   <arg name="model" value="$(find cvg_sim_gazebo)/urdf/quadrotor_sensors.urdf.xacro"/> 
 </include> 
</launch>

Starting the simulator

Run the following command

roslaunch (your_package_name) simulator.launch

Refer to tum_simulator ROS wiki for more information.