Testing Virtual Machines

1. Test Drag n Drop feature:
   Copy "test text document" from Linux (Home/Documents) to your host OS Desktop.

2. Test Internet connection by opening website in Firefox.

3. Follow this tutorial to learn how to start ROS Environment:

Open Terminal and type:
cd ~/catkin_ws Type: roscore

Open New Terminal Tab (Ctrl+SHIFT+T) and go to MobileSim location:
cd /usr/local/MobileSim

Run MobileSim:
MobileSim -m columbia.map -r amigo

Open New Terminal Tab (Ctrl+SHIFT+T) and run ROSAria with MobileSim:
rossun rosaria RosAria _port:=localhost:8101

Open New Terminal Tab (Ctrl+SHIFT+T) and try commands bellow:
Subscribed Topics - cmd_vel (geometry_msgs/Twist)
receives new velocity commands. Desired velocities are set in ARIA; the robot will achieve and maintain these velocities, so cmd_vel commands are only needed to change velocity, not maintain them.

Example:
go ahead:
rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '[0.1, 0.0, 0.0]' '[0.0, 0.0, 0.0]'
go backwards:
rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '[-0.1, 0.0, 0.0]' '[0.0, 0.0, 0.0]'
turn on spot right:
rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '[0.0, 0.0, 0.0]' '[0.0, 0.0, -0.1]'
turn on spot left:
rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '[0.0, 0.0, 0.0]' '[0.0, 0.0, 0.1]'
turn left:
rostopic pub -1 /RosAria/cmd_vel geometry_msgs/Twist '[0.1, 0.0, 0.0]' '[0.0, 0.0, 0.1]'