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Simulation

Overview

This manual page will describe how to use the Gazebo and Webots simulation environments with the ROBOTIS-OP3 robot. Install the required packages below to begin. Note that all required packages must be installed to to use simulation properly.

Gazebo Installation

Gazebo

Additional Packages for Gazebo

To use the Gazebo simulation environment you’ll need to install the following packages:

If you are using ROS2 jazzy, the following commands will install the required packages.

$ 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

To use the Gazebo simulation environment you’ll need to install the following packages:

  • Webots ROS2 If you are using ROS2 jazzy, the following commands will install the required packages. 
    $ sudo apt-get install ros-jazzy-webots-ros2

Download Packages

How to execute Gazebo Simulation

How to Execute

Use the command below to launch the ROBOTIS-OP3 Gazebo simulation.

$ 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 the tutorials below for the additional simulation and control procedures.
    OP3 Tutorials

How to execute Webots Simulation

How to execute

Use the command below to launch the ROBOTIS-OP3 in Webots

$ 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 the tutorials below for additional simulation procedures. OP3 Tutorials

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

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

How to execute Webots Simulation

This version does not support it.