该软件可自行百度下载http://download.csdn.net/download/zhangrelay/9507022
连接电脑上ros master 的uri
启动mobilesim
启动rosaria
对应话题“/cmd_vel”
launch 修改rosaria的速度话题
<launch>
<node pkg="rosaria" type="RosAria" name="RosAria" output="screen">
<remap from="/RosAria/cmd_vel" to="/cmd_vel"/>
</node>
</launch>