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fg_gazebo_example package from tutorials repo

fg_gazebo_example launch_pkg params_pkg transforms diagnostics diagnostics_py lifecycle lifecycle_py string_length_node

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Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type CATKIN
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/foxglove/tutorials.git
VCS Type git
VCS Version main
Last Updated 2024-10-10
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

Example gazebo simulation

Additional Links

No additional links.

Maintainers

  • Foxglove

Authors

No additional authors.
ros1/gazebo/README.md

ROS1 Gazebo simulation demo

Code reference for ROS 1 Gazebo simulation tutorial at https://foxglove.dev/blog/simulating-robotic-scenarios-with-ros1-and-gazebo.

This catkin package contains launch and URDF files to run an example Gazebo simulation consisting of a robotic arm (UR5e) with a robot-mounted depth camera and a separate RGB camera.

simulation screenshot

Building this package

To build this package, you will need an existing ROS installation.

  1. Create a catkin workspace
  2. Clone this repository in the workspace’s src folder
  3. Install dependencies with rosdep install -i --from-path src
  4. Build the package with catkin build fg_gazebo_example
  5. Source the workspace

Running the simulation

To run the simulation, simply launch the simulation.launch launch file:

roslaunch fg_gazebo_example simulation.launch

Refer to the blog post for further information on how to move the simulated robot and how to set up Foxglove Studio to visualize sensor data.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Launch files

  • launch/include/spawn_static_camera.launch
      • camera_name [default: static_camera]
      • x [default: 0.0]
      • y [default: 0.0]
      • z [default: 0.0]
      • roll [default: 0.0]
      • pitch [default: 0.0]
      • yaw [default: 0.0]
  • launch/include/load_robot.launch
      • robot_model [default: ur5e]
      • joint_limit_params
      • kinematics_params
      • physical_params
      • visual_params
      • transmission_hw_interface [default: hardware_interface/EffortJointInterface]
      • safety_limits [default: false]
      • safety_pos_margin [default: 0.15]
      • safety_k_position [default: 20]
  • launch/view_robot.launch
      • joint_limit_params [default: $(find ur_description)/config/ur5e/joint_limits.yaml]
      • kinematics_params [default: $(find ur_description)/config/ur5e/default_kinematics.yaml]
      • physical_params [default: $(find ur_description)/config/ur5e/physical_parameters.yaml]
      • visual_params [default: $(find ur_description)/config/ur5e/visual_parameters.yaml]
  • launch/simulation.launch

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged fg_gazebo_example at Robotics Stack Exchange

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