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Gazebo Simulation

Gazebo Install

Install ROS-Gazebo package.

Gazebo with ROS

Install RH-P12-RN(A) Package

Enter below command in order to download the Gazebo package for RH-P12-RN(A).

$ cd catkin_ws/src
$ git clone https://github.com/ROBOTIS-GIT/RH-P12-RN-A

Install Additional Packages

If ROS is installed with ros-kinetic-desktop-full option, additional packages are required.

$ sudo apt install ros-kinetic-ros-control
$ sudo apt install ros-kinetic-ros-controllers
$ sudo apt install ros-kinetic-gazebo-ros-control

Run Simulator

How to run Gazebo simulator.

Recommendation

Since running Gazebo from the controller PC, the realtime factor could be affected, therefore, it is recommended to run Gazebo simulation from different PC.

How to Operate

Enter below command in order to run RH-P12-RN(A) from Gazebo simulator.

$ roslaunch rh_p12_rn_a_gazebo rh_p12_rn_a_gazebo.launch

Click the Play button from Gazebo.

In order to control the gripper, use below commands in a new terminal window.