Table of Contents

• Steps to run the demo in Gazebo
• Steps For Running the Scripts in Gazebo

Steps to run the demo in Gazebo

• Gazebo is the simulation tool that is used by ROS. It has a lot of Applications. In this workshop we will be using ROS to simulate the Manipulator. For the running the simulation just follow commands mentioned below.

• If you have not installed the joint_state_publishers and ros_control for ros-noetic, follow the commands given here

• Run the launch file

Make sure you have sourced your workspace before running this command.

  ros2 launch simulation_gazebo basic_gazebo.launch.py

To source your workspace follow the steps menstioned below.

Steps For Running the Scripts in Gazebo

We will be testing out 2 scripts (forward_kinematics.py, inverse_kinematics.py).

Source Ros2. Use following commands in your workspace :

source /opt/ros/humble/setup.bash

Now we build simulation_gazebo package using this command:

colcon build

Now we source the workspace using following command :

source install/setup.bash

For running the scripts on gazebo, firstly launch gazebo world using the command

ros2 launch simulation_gazebo basic_gazebo.launch.py

After starting gazebo we will be testing out forward kinematics.py. Open a fresh terminal and navigate to your workspace. Now source the workspace and run forward_kinematics.py using following commands :

source install/setup.bash
ros2 run simulation_gazebo forward_kinematics.py

Similarly, you can test out the script for inverse_kinematics.py.