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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​

warning

CAUTION : Before installing Gazebo, please reference this table of compatible ROS and Gazebo Combinations to verify your configuration is supported.

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