Simulation
Overview
This manual describes how to use simulation tools (Gazebo and Webots) for the ROBOTIS-OP3 robot. Install or download the below required packages. Note that all the below packages need to be installed or downloaded to to use simulation properly.
Gazebo Installation
Gazebo
- Gazebo Tutorials
-
CAUTION : Before install Gazebo, please check the table of compatible ROS and Gazebo Combinations here.
Additional Installation for Gazebo
If you are using ros2 jazzy, the following packages need to be installed.
$ sudo apt install ros-jazzy-ros2-control
$ sudo apt install ros-jazzy-ros2-controllers
$ sudo apt install ros-jazzy-ros-gz
$ sudo apt install ros-jazzy-gz-ros2-control
Webots Installation
Webots
Additional Installation for Webots
If you are using ros2 jazzy, the following packages need to be installed.
$ sudo apt-get install ros-jazzy-webots-ros2
Download Packages
How to execute Gazebo Simulation
How to execute
USe the below command to call ROBOTIS-OP3 in Gazebo
$ ros2 launch op3_gazebo_ros2 robot_sim.launch.py
op3_manager for Simulation
- Launch op3_manager for simulation
$ ros2 launch op3_manager op3_simulation.launch.py - Please refer to below tutorials for the rest procedures.
OP3 Tutorials
How to execute Webots Simulation
How to execute
USe the below command to call ROBOTIS-OP3 in Gazebo
$ ros2 launch op3_webots_ros2 robot_launch.py
op3_manager for Simulation
- Launch op3_manager for simulation
$ ros2 launch op3_manager op3_simulation.launch.py - Please refer to below tutorials for the rest procedures.
OP3 Tutorials
Simulation
Gazebo Installation
Overview
ROS-Gazebo Package Installation
Gazebo with ROS
Download Package
Additional Installation
If ros-kinetic-desktop-full was used to install, the following packages need to be installed.
# apt-get install ros-kinetic-ros-control
# apt-get install ros-kinetic-ros-controllers
# apt-get install ros-kinetic-gazebo-ros-control
Webots Installation
This version does not support it.
How to execute Gazebo Simulation
Overview
How to set up & execute gazebo simulation
Recommendation
If Gazebo is running on the OPC, realtime factor can be decreased, therefore, it is recommended to use a separate PC for Gazebo.
How to execute
- The command to call ROBOTIS-OP3 in Gazebo
$ roslaunch op3_gazebo robotis_world.launch
op3_manager for Gazebo
- Launch op3_manager for gazebo
$ roslaunch op3_manager op3_gazebo.launch - Please refer to below tutorials for the rest procedures.
OP3 Tutorials
To improve gazebo simulation
- Change joint gain
Controller File - Edit physics engine
World File
How to execute Webots Simulation
This version does not support it.