Getting Started

This tutorial assumes that you have successfully completed the ROS tutorials.

To get the Jazz simulator up and running, do the following:

Download the jazz_simulator and jazz_example packages here.
Extract the packages in your ~/ros folder.
If you set-up your environment correctly, you should be able to roscd to the jazz_simulator and jazz_example packages, e.g.:
```
roscd jazz_simulator
```

Jazz Simulator

Build the jazz_simulator package:
```
rosmake jazz_simulator
```
To start the simulator, start the launch file contained in the package:
```
roslaunch jazz_simulator start.launch
```
This starts up the Gazebo simulator, loads the robot model and controllers, spawns the robot, and starts the visualization tool RViz.
Play around with the Gazebo interface, and make yourself familiar with RViz. To visualize the sensor data from the laser range finder, in RViz press Add, Choose Laser Scan, and in the left panel select the topic scan.

Have a look at the file jazz_node.cpp in the src folder of the jazz_example package. You should be able to understand what the program will do.
Build the package:
```
rosmake jazz_example
```
Run the node (make sure the simulator is still running):
```
rosrun jazz_example jazz_node
```
Check the result in both Gazebo and RViz.
Load the package in Eclipse, or create your own package, and... have fun!