diff --git a/rosjava_tutorial_right_hand_rule/build.gradle b/rosjava_tutorial_right_hand_rule/build.gradle
new file mode 100644
index 0000000000000000000000000000000000000000..16f16ee35ab94ff3177f72faa6e32e3597c90eac
--- /dev/null
+++ b/rosjava_tutorial_right_hand_rule/build.gradle
@@ -0,0 +1,24 @@
+/*
+ * Copyright (C) 2011 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+apply plugin: 'application'
+
+mainClassName = 'org.ros.RosRun'
+
+dependencies {
+ compile project(':rosjava')
+}
+
diff --git a/rosjava_tutorial_right_hand_rule/manifest.xml b/rosjava_tutorial_right_hand_rule/manifest.xml
new file mode 100644
index 0000000000000000000000000000000000000000..a8cd8f1a8ebfc78509528b87b3fcfa3f5085911b
--- /dev/null
+++ b/rosjava_tutorial_right_hand_rule/manifest.xml
@@ -0,0 +1,10 @@
+<package>
+ <description brief="rosjava_tutorial_right_hand_rule">
+ rosjava_tutorial_right_hand_rule is a simple example project that solves a maze in Stage.
+ </description>
+ <author>Damon Kohler</author>
+ <license>Apache 2.0</license>
+ <review status="unreviewed" notes="" />
+ <url>http://ros.org/wiki/rosjava_tutorial_right_hand_rule</url>
+</package>
+
diff --git a/rosjava_tutorial_right_hand_rule/src/main/java/org/ros/rosjava_tutorial_right_hand_rule/RightHandRule.java b/rosjava_tutorial_right_hand_rule/src/main/java/org/ros/rosjava_tutorial_right_hand_rule/RightHandRule.java
new file mode 100644
index 0000000000000000000000000000000000000000..1bafae60749170de1350055271099f5a5bcda4a7
--- /dev/null
+++ b/rosjava_tutorial_right_hand_rule/src/main/java/org/ros/rosjava_tutorial_right_hand_rule/RightHandRule.java
@@ -0,0 +1,61 @@
+/*
+ * Copyright (C) 2012 Google Inc.
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License"); you may not
+ * use this file except in compliance with the License. You may obtain a copy of
+ * the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS, WITHOUT
+ * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. See the
+ * License for the specific language governing permissions and limitations under
+ * the License.
+ */
+
+package org.ros.rosjava_tutorial_right_hand_rule;
+
+import org.ros.message.MessageListener;
+import org.ros.namespace.GraphName;
+import org.ros.node.AbstractNodeMain;
+import org.ros.node.ConnectedNode;
+import org.ros.node.topic.Publisher;
+import org.ros.node.topic.Subscriber;
+
+/**
+ * @author damonkohler@google.com (Damon Kohler)
+ */
+public class RightHandRule extends AbstractNodeMain {
+
+ @Override
+ public GraphName getDefaultNodeName() {
+ return GraphName.of("right_hand_rule");
+ }
+
+ @Override
+ public void onStart(ConnectedNode connectedNode) {
+ final Publisher<geometry_msgs.Twist> publisher =
+ connectedNode.newPublisher("cmd_vel", geometry_msgs.Twist._TYPE);
+ final geometry_msgs.Twist twist = publisher.newMessage();
+ final Subscriber<sensor_msgs.LaserScan> subscriber =
+ connectedNode.newSubscriber("base_scan", sensor_msgs.LaserScan._TYPE);
+ subscriber.addMessageListener(new MessageListener<sensor_msgs.LaserScan>() {
+ @Override
+ public void onNewMessage(sensor_msgs.LaserScan message) {
+ float[] ranges = message.getRanges();
+ float northRange = ranges[ranges.length / 2];
+ float northEastRange = ranges[ranges.length / 3];
+ double linearVelocity = 0.5;
+ double angularVelocity = -0.5;
+ if (northRange < 1. || northEastRange < 1.) {
+ linearVelocity = 0;
+ angularVelocity = 0.5;
+ }
+ twist.getAngular().setZ(angularVelocity);
+ twist.getLinear().setX(linearVelocity);
+ publisher.publish(twist);
+ }
+ });
+ }
+}
diff --git a/rosjava_tutorial_right_hand_rule/world/maze-erratic.world b/rosjava_tutorial_right_hand_rule/world/maze-erratic.world
new file mode 100644
index 0000000000000000000000000000000000000000..f5b647785d02a1d7a4ba9627dbb3e1d494262c3f
--- /dev/null
+++ b/rosjava_tutorial_right_hand_rule/world/maze-erratic.world
@@ -0,0 +1,63 @@
+define topurg ranger
+(
+ sensor(
+ range [ 0.0 30.0 ]
+ fov 270.25
+ samples 1081
+ )
+
+ # generic model properties
+ color "black"
+ size [ 0.05 0.05 0.1 ]
+)
+
+define erratic position
+(
+ size [0.35 0.35 0.25]
+ origin [-0.05 0 0 0]
+ gui_nose 1
+ drive "diff"
+ topurg(pose [ 0.050 0.000 0 0.000 ])
+)
+
+define floorplan model
+(
+ # sombre, sensible, artistic
+ color "gray30"
+
+ # most maps will need a bounding box
+ boundary 0
+
+ gui_nose 0
+ gui_grid 0
+
+ gui_outline 0
+ gripper_return 0
+ fiducial_return 0
+ laser_return 1
+)
+
+# set the resolution of the underlying raytrace model in meters
+resolution 0.02
+
+interval_sim 100 # simulation timestep in milliseconds
+
+window
+(
+ size [ 500.0 500.0 ]
+ rotate [ 0.0 0.0 ]
+ scale 10.0
+)
+
+# load an environment bitmap
+floorplan
+(
+ name "maze"
+ bitmap "maze.png"
+ size [50.0 50.0 0.5]
+ pose [ 0.0 0.0 0 0.0 ]
+ gui_move 0
+)
+
+# throw in a robot
+erratic( pose [ 1.25 -25.0 0.0 90.0 ] name "era" color "blue")
diff --git a/rosjava_tutorial_right_hand_rule/world/maze.png b/rosjava_tutorial_right_hand_rule/world/maze.png
new file mode 100644
index 0000000000000000000000000000000000000000..ed9ab46dce6f7df6ac425089a154b150c5d2dd90
Binary files /dev/null and b/rosjava_tutorial_right_hand_rule/world/maze.png differ
diff --git a/settings.gradle b/settings.gradle
index 3bb6080f1f7c8a6566e76d76537caf93e2ef327c..f6287ece6b180af6944d37b269629279352fca28 100644
--- a/settings.gradle
+++ b/settings.gradle
@@ -17,5 +17,5 @@
include 'rosjava_bootstrap', 'rosjava_messages', 'apache_xmlrpc_common',
'apache_xmlrpc_client', 'apache_xmlrpc_server', 'rosjava',
'rosjava_geometry', 'rosjava_tutorial_pubsub',
- 'rosjava_tutorial_services', 'rosjava_benchmarks',
- 'rosjava_test', 'docs'
+ 'rosjava_tutorial_services', 'rosjava_tutorial_right_hand_rule',
+ 'rosjava_benchmarks', 'rosjava_test', 'docs'