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Getting Started with Gazebo

Overview​

You can launch Gazebo and RViz individually, or launch RViz together with the physical hardware.

1. Prepare the Open Manipulator Docker Container​

Refer to the ROS 2 (Physical AI Tools) Setup Guide to configure the Open Manipulator Docker Container environment.

2. Enable GUI Access​

Open a new terminal and run the following command:

xhost +

3. Access the Running Container​

./container.sh enter
info

At least one Zenoh daemon must be running in the communication network. If no Zenoh daemon is running, ROS 2 nodes cannot discover or communicate with each other.

For the recommended setup, run zenohd in a terminal inside the open_manipulator Docker container.

4. Launch Gazebo​

Launch the simulation environment using:

ros2 launch open_manipulator_bringup omx_f_gazebo.launch.py

5. Run MoveIt and GUI in Simulation​

Refer to the Operation Guide to control the robot within the Gazebo environment.

Simulation Views​

OMX_F​

OMX F Simulation