Getting Started with Gazebo

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It is recommended to run this on a PC other than the OMY device.

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 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

./docker/container.sh enter

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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 OpenMANIPULATOR Docker container.

4. Launch Gazebo

Launch the simulation environment using:

ros2 launch open_manipulator_bringup omy_f3m_gazebo.launch.py

5. Run MoveIt and GUI in Simulation

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

Simulation Views

OMY_F3M

OMY_3M