Getting Started

On Local PC

To getting strated, we have prepared some sample maps alongside different robots. For Example we run house_map model with three p3at robots as following items:

Open a terminal console with Ctrl+Alt+T and launch the house_map world map
```
git clone https://github.com/RoboCup-RSVRL/RoboCup2022RVRL_Demo

cd ~/RoboCup2021RVRL_Demo/

colcon build

source install/setup.bash

ros2 launch rvrl_gazebo house_map.launch.py
```
As shown in this example, three robots are spawned in the environment, each of them can be controlled manually with the following procedure. You can also check the rvrl_gazebo/launch directory to find another or map examples.

In order to see the images of the robots’ cameras, open a new tab using Crtl+T, then use the following command
```
source install/setup.bash
ros2 run rviz2 rviz2
```
You should be able to see this screen now

You have to make sure that the terminal window stays on top of the gazebo window while you’re operating.
In order to move the robots,open terminal 1 with Ctrl+Alt+T to drive the robot1 with following command:
```
ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=robot1/cmd_vel
```
You will see this screen on your terminal

Open terminal 2 with Ctrl+Alt+T to drive the robot2 with following command:

ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=robot2/cmd_vel

Open terminal 3 with Ctrl+Alt+T to drive the robot3 with following command:

ros2 run teleop_twist_keyboard teleop_twist_keyboard cmd_vel:=robot3/cmd_vel

Open terminal 4 with Ctrl+Alt+T to get the robots image camera with following command:
```
ros2 run rqt_image_view rqt_image_view
```

On The ConstructSim

In case you are working on ConstructSim, click on Web shell on the lower left part of the page.

You will see the terminal open, act like local pc mode

You can also visit the graphical intereface by followin picture