To use the Roboy Parkour Challenge Track Gazebo world execute the following:
cd parkour_challenge
ln -s $PWD/RoboyParkourTrack ~/.gazebo/models
roscore&
rosrun gazebo_ros gazebo parkour_world.sdf
Learn more at www.roboy.org/win.
Link the robot model using
ln -s $PWD/parkour_dummy_demo/pioneer3at ~/.gazebo/models
Spawn the robot on the start line using reference_frame and x y z tags (assuming that Gazebo is already running with parkour_world.sdf)
rosrun gazebo_ros spawn_model -file `rospack find parkour_dummy_demo`/pioneer3at/model.sdf -sdf -model pioneer3at -reference_frame RoboyParkourTrack::mesh_link -x 0.3 -y -2.3 -z 0.5
Actuate back wheels
rosrun parkour_dummy_demo drive.py
To reset the the robot to initial position press Ctrl+R in Gazebo.