arlo_gazebo

This package simulates the Parallax Arlo Robot in Gazebo.

Please use Gazebo Version> 9.19.x+

Download the following packages and place them in your workspace.

Required Packages	Link
aws-house	repository
realsense plugin	repository

Running the Simulation

• Start the simulation with the following command:

roslaunch arlo_gazebo arlo_sim.launch

Press tab to see the available options.

There are 19 args are available in the launch file to modify as in command line.

Please visit the launch folder for more information.

Argument	description	default
x_pos, y_pos, z_pos	Set robot spawn location	(-1.33, 0.55, 0.02)
use_rtabmapviz	Enable rtabmap GUI visualization	false
ns	Namespace for the entire robot	wx250s
arlo_rviz	Visualize the Arlo Robot in RViz	true
isolate	Minimal startup	false
teleop	Launch teleop_keyboard node	false

View of the Arlo Robot running in RViz.

Example of populated rtabmap/MapData in RViz.

View of Rtabmap in GUI.

Set the use_rtabmapviz argument to true in the launch file.

In Rtabmap-GUI, enable mapping to populate the rtabmap/MapData as shown in the image below.