Provide easy examples for testing in Gazebo and Stage

[betwo]

Provide easy examples for testing in Gazebo and Stage

[jfrascon]

First of all, I want to thank you for this amazing work and the effort invested in it. For a project I'm working on I want to compare different tracking algorithms for a differential drive configuration and when I discovered this project I was so excited that what I needed was already here just to plug & play. However, I've been trying to configure all the required launch files of this project in order to get things done for some time with no luck. I've configured gazebo with a testing world and a turtlebot robot equipped with a hokuyo laser. On the other hand, I have remapped in the Gerona's launch files the scan_topic to /laser_scan (which is the topic I use for the hokuyo) and the map_file to the map I use.
I've used the base launch file called rviz_controlled.launch which is responsible for launching the other launch files needed.
For my initial trials I've used differential_orthexp as the robot_controller, although as I mentioned before I plan to test all the differential controllers and compare their performances.

So far, I've got in the terminal this messages when I set up a goal in rviz:

[ WARN] [1535377005.446248344, 393.750000000]: Path execution failed. Replan [4].
[ INFO] [1535377005.446302318, 393.750000000]: Wait for follow_path action server...
[ INFO] [1535377005.446352611, 393.750000000]: got request with channel 
[ INFO] [1535377005.446378617, 393.750000000]: remapped channel to /plan_path
[ INFO] [1535377005.446393097, 393.750000000]: waiting for planner @ /plan_path
[ INFO] [1535377005.546105363, 393.850000000]: waiting for path
[ INFO] [1535377006.607982268, 394.860000000]: still waiting for path
[ INFO] [1535377008.753892923, 396.880000000]: still waiting for path
[ INFO] [1535377010.530626633, 398.560000000]: Got a path, continue
[ INFO] [1535377010.710035929, 398.740000000]: Path is now active.
[ INFO] [1535377010.711225481, 398.740000000]: Path execution finished.
---------------------
[ WARN] [1535377010.715891681, 398.750000000]: Path execution failed. Replan [5].
[ INFO] [1535377010.715942215, 398.750000000]: Wait for follow_path action server...
[ INFO] [1535377010.715990893, 398.750000000]: got request with channel 

and

[ INFO] [1535377005.256396099, 393.550000000]: path planning took 2777ms
[ INFO] [1535377005.480134661, 393.780000000]: planner: got goal
Failed to find match for field 'label'.
[ INFO] [1535377007.243483078, 395.450000000]: still planning
Failed to find match for field 'label'.
[ INFO] [1535377009.913578506, 397.960000000]: still planning
[ INFO] [1535377010.530344068, 398.560000000]: path planning took 2773ms
[ INFO] [1535377010.724795718, 398.750000000]: planner: got goal
Failed to find match for field 'label'.

and

[ INFO] [1535377010.709620377, 398.740000000]: Following path with 1 segments.
[ INFO] [1535377010.709700001, 398.740000000]: using follower configuration:
- controller: differential_orthexp
- avoider: 26CollisionDetectorOmnidrive
- local planner: NULL
[ INFO] [1535377010.710284039, 398.740000000]: path length 1
[ INFO] [1535377010.710311341, 398.740000000]: following forwards path segment of length 36
[ INFO] [1535377010.710446188, 398.740000000]: first wp -4.949998 -0.199999
[ WARN] [1535377010.710570829, 398.740000000]: Max Obstacle Weight: 2.51162, limit: 1
[ WARN] [1535377010.710615760, 398.740000000]: My supervisor told me to stop.
[ INFO] [1535377015.989056760, 403.740000000]: Start Action!
[ WARN] [1535377015.989125163, 403.740000000]: setting velocity to 1
[ INFO] [1535377015.989194334, 403.740000000]: Following path with 1 segments.
[ INFO] [1535377015.989235703, 403.740000000]: using follower configuration:
- controller: differential_orthexp
- avoider: 26CollisionDetectorOmnidrive
- local planner: NULL
[ INFO] [1535377015.989396550, 403.740000000]: path length 1

I've trying to make things work by myself before asking for some help but after quite a lot of time invested in this task, I thought that it might be a better idea asking for some advice here.
If I'm missing some information, please don't hesitate to ask me to post it here.

Thanks in advance.

[betwo]

I just added a few example launch files.
@jfrascon could you please take a look at them and compare them with your launch files?
If this does not help you, please re-open this issue or create a new one.

[jfrascon]

Thanks a mil @betwo! With your gerona_examples and a bit of customization I could make it! Now my set-up is working and I can test your library and also integrate with the algorithms we build in our R&D team!
Keep up the good work!