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USARSim and ROS integration

asked 2013-09-05 21:05:39 -0500

RB gravatar image

updated 2013-10-31 02:36:18 -0500

I have my own map and robot placed in the Map through USARSim. Since I have installed USARSim in Windows7 and ROS runs on Linux. So; what should I do--1)install ROS and USARSim both in Linux or 2)On windows7 use virtualbox to install Linux and then on Linux install ROS?

Question 2: Which version of ROS should be installed? Groovy or hydro? Question 3: Gazebo or Usarsim which one is best to work with ROS?

Has anyone correctly use this framework upto high level navigation? I am stuck at creation of 2D global map.

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answered 2013-09-06 20:10:53 -0500

130s gravatar image

updated 2013-09-06 20:11:27 -0500

It might be worth considering to use USARSimROS (it might be developed by someone in development team of USARSim at Georgia Tech though I'm not sure). Looks like it's actively maintained, although from this wiki page I sensed that it may have been tested with ROS electric and fuerte.

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Hello, IsaacSaito. as I find some bugs in USARSimROS, so I decided to write my own node to communicate with ROS. I want to use its gmapping and laser scan messege and teleop package. For High level navigation I Will only refer to 2D map....Can I do that?

RB gravatar image RB  ( 2013-11-05 02:00:08 -0500 )edit

I confirm that USARSimROS is pretty buggy. There are at least two:
1. messages from ROS are not correctly routed to USARSim (actually speed commands are considered sensors measurements!)
2. the tf tree misses some nodes (in particular, the /lms200)

kr1zz gravatar image kr1zz  ( 2013-11-07 22:48:09 -0500 )edit

@kr1zz I'm not a maintainer. Opening tickets for what you observed might be appreciated by its users and developers

130s gravatar image 130s  ( 2013-11-10 22:44:07 -0500 )edit

Hi @IsaacSaito, thanks for the reply. Unfortunately the ticketing system seems closed (or, at least, I did not manage to open a new one :P ). However I mailed the authors about these issues some times ago.

kr1zz gravatar image kr1zz  ( 2013-11-10 22:51:01 -0500 )edit

Hinomiyagura Team Description Paper for Robocup 2013 Virtual Robot League uses USARSim/ROS..and MRL Team Description Paper for Virtual Robots Competition 2013 also uses USARSimROS.

RB gravatar image RB  ( 2013-11-11 17:26:49 -0500 )edit

answered 2013-09-06 13:25:35 -0500

tfoote gravatar image

For 1 it really depends on what you want to do. My guess is that 1) is going to be easiest with both running on the same machine.

For 2 groovy is more mature and has more capabilities. However if hydro has the feature set you want released then it's going to be slightly newer and more up to date.

For 3 Gazebo is very closely integrated with ROS and I believe the majority of users use it with ROS.

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answered 2014-10-18 07:42:10 -0500

Please type following commands on the terminal window of PC2.

$ echo “source /opt/ros/fuerte/setup.bash” >> ~/.bashrc
$ . ~/.bashrc
$ sudo apt-get install python-rosinstall python-rosdep ros-fuerte-brown-remotelab ros-fuerte-control ros-fuerte-common-msgs ros-fuerte-slam-gmapping ros-fuerte-hector-slam
$ rosws init ~/fuerte_workspace /opt/ros/fuerte
$ echo “source ~/fuerte_workspace/setup.bash” >> ~/.bashrc
$ mkdir ~/fuerte_workspace/sandbox
$ source ~/fuerte_workspace/setup.bash
$ rosws set ~/fuerte_workspace/sandbox
$ source ~/fuerte_workspace/setup.bash
$ roscd
$ cd sandbox
$ git clone git://
(Under the proxy, try “git clone )
$ rosmake usarsim_inf
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answered 2013-09-30 00:55:33 -0500

updated 2013-09-30 00:56:36 -0500

You can import UDK scenarios into USARSim, so you can have many huge worlds with a little effort (although there may be scaling issues from unreal units to metric). I am trying to work with USARSimRos, as suggested by @IsaacSaito and, although the idea looks good, I found some bugs in it

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More details here: Sorry but I cannot put urls into the answer :P

kr1zz gravatar image kr1zz  ( 2013-09-30 00:56:03 -0500 )edit

Thanks for the valuable information kr1zz. Now I am facing connection problem, I am pasting a portion here, [ERROR] [1380608092.814006960]: connect [ERROR] [1380608092.814131851]: can't open socket to localhost port 3000 [ERROR] [1380608092.814522262]: Error from usarsimInf, exiting

RB gravatar image RB  ( 2013-09-30 01:18:10 -0500 )edit

I wonder wether we are going off topic. However, that's a problem with the launch file you are using, since you try to connect to localhost, which I guess is a linux box, while USARSim should be running on a windows host

kr1zz gravatar image kr1zz  ( 2013-09-30 02:10:02 -0500 )edit

Hi, kr1zz that' why I post a new question related to this. My USARSim run on windows only and ROS on ubuntu 10.04 and I try to connect through LAN wire. And launch file looks fine..

RB gravatar image RB  ( 2013-10-01 02:10:53 -0500 )edit

Can you paste the .launch file, please?

kr1zz gravatar image kr1zz  ( 2013-10-01 03:33:16 -0500 )edit Go to the link. If I paste whole file then some portion is not visible.

RB gravatar image RB  ( 2013-10-01 04:14:23 -0500 )edit

I am able to connect ROS-USARsim but while running teleop

 rosrun teleop_twist_keyboard

every time i press the key , it says

 [ERROR] [1411920792.568087748]: usarsimInf::peerMsg: not handling type SW_SEN_ENCODER
sumant gravatar image sumant  ( 2016-10-17 01:37:26 -0500 )edit

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Asked: 2013-09-05 21:05:39 -0500

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Last updated: Oct 18 '14