This is a simple simulation of NASA's Sojourner Mars rover. The rover starts moving on its own over a simulated martian surface and can be controlled using the keyboard.
The simulation runs on the Webots simulation engine.
It is designed to work with InOrbit so you will need to install the agent and have an active account. It uses the C++ non-ros agent.
The simulation generates the following data that is streamed to the InOrbit dashboard:
- Pose: the robot's current pose
- Battery: energy currently available in the robot's battery measured in joules.
- Incident light: amount of light received by the robot's solar panels measured in watts per square meters.
Follow the procedure described in Webots page to install the simulator in your system using APT.
Clone this repo with the following instructions. Note that the repo contains git submodules that need to be installed.
git clone --recurse-submodules https://github.com/ernestmc/sojourner.git
The following commands will build and run the simulation.
cd sojourner
./run