dependencies:

Requires mirte-ros-packages, change mirte_teleop/launch/teleopkey.lauch: /mobile_base_controller/cmd_vel to /mirte/base_controller/cmd_vel

Requires ros-control packages: apt install ros-noetic-ros-control ros-noetic-ros-controllers

running:

roslaunch mirte_gazebo gazebo_all.launch

Controlling the Mirte:

roslaunch mirte_teleop teleopkey.launch

Change world by changing the duckietown argument in launch/gazebo_duckietown_world.launch to any map in the maps folder.

The map file is converted to urdf/generated.world by scripts/buildMap.py and converted to worlds/generated.world by xacro before launching Gazebo.

Format

Format xml (.launch, .xacro and .world) by running

./scripts/xmlformat.sh # uses xmllint

and Python files:

./scripts/pythonformat.sh # uses black

and yaml files:

./scripts/yamlformat.sh # uses yamlfmt