User Guide

Overview

This is a general overview about how to launch the different components of the Framework. You can find more detailed information in the tutorials.

Launch centipede basic module

To launch a empty world with the centipede basic module:

# Launch the world with the basic model
roslaunch centipede_gazebo empty_world.launch

Launch evolution using Gazebo

To use RMEvo with Gazebo:

• Launch the rmevo_world in a new terminal:

roslaunch rmevo_gazebo empty_world.launch

• Start the factory in a new terminal passing the modules folder as an argument. In the folder src/rmevo/test/modules/basic/ there are a few examples used in the tests:

rosrun factory_ros run_factory.py --modules src/rmevo/test/modules/basic/

• Run the rmevo core. It needs a --manager argument, which is the python script with the evolution program. There is an example in rmevo_manager/test2.py

rosrun rmevo run_rmevo.py --manager rmevo_manager/test2.py

The evolution process will start, using the factory node to spawn the models in Gazebo.