Rendering engine that simulate camera rotation provided a panoramic map of the scene in equirectangular format (such as this one for example).
Run
First set the absolute paths in panorama.conf:
roscd esim_ros
gedit cfg/panorama.conf
Run the simulator as follows (do not forget to set the absolute paths in panorama.conf):
roslaunch esim_ros esim.launch config:=cfg/panorama.conf
To visualize the output of the simulator, you can open rviz (from a new terminal) as follows:
roscd esim_visualization
rviz -d cfg/esim.rviz
You can also open rqt for more visualizations, as follows:
roscd esim_visualization
rqt --perspective-file cfg/esim.perspective
