Simulation

Gazebo Installation

Overview

ROS-Gazebo Package Installation

Gazebo with ROS

Gazebo Tutorials

Download Package

ROBOTIS OP3 Common

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

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