Gazebo Simulation

Install Gazebo

ROS-Gazebo Package Installation

Gazebo with ROS

Gazebo Tutorials

Additional Installation

If ros-indigo-desktop-full was used to install, the following packages need to be installed.

# apt-get install ros-indigo-ros-control
# apt-get install ros-indigo-ros-controllers
# apt-get install ros-indigo-gazebo-ros-control

Run Simulation

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 THORMANG3 in Gazebo

$ roslaunch thormang3_gazebo robotis_world.launch

[thormang3_manager] for Gazebo

• Configure simulation setting in the launch file of the thormang3_manager
  <param name="gazebo" value="true" type="bool"/>
<param name="gazebo_robot_name" value="thormang3"/>

• Launch thormang3_manager

  $ roslaunch thormang3_manager thormang3_manager.launch
  

• Please refer to below tutorials for the rest procedures.
  How to run THORMANG3’s program