Launching the platform

1. In a terminal window in the virtual machine, enter:

source ~/catkin_ws/devel/setup.bash
roslaunch ~/catkin_ws/src/ros_scenario/launch/launch_njord_stack.launch

2. Launch the project from Unity Hub. In the 'Project' tab in the lower menu, open the 'Models' folder and open the 'Njord' scene. Press the play button to initiate the simulation.

Testing

To test if the sensor platform is functioning, open a third terminal window and run:

rviz

This will boot rviz. Click 'Add' in the bottom left corner, and under 'By Topic' there should be a list of camera topics (/optical). Selecting one of the image topics should display one of the camera views from Gemini.

The force controller can be tested by trying the following: Open a terminal window in the virtual machine and try running the following:

source catkin_ws/devel/setup.bash

rostopic pub /force_control ros_clients/GeneralizedForce "{x: 100.0 , y: 0.0 , z: 0.0 , k: 0.0 , m: 0.0 , n: 0.0}"

This method will continuously apply the requested force until the command is canceled (ctrl+c) and run again with different values.