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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.

  • Open the grippers

    $ rostopic pub -1 /rh_p12_rn_a/rh_p12_rn_a_position/command std_msgs/Float64 "data: 0.0"

  • Close the grippers

    $ rostopic pub -1 /rh_p12_rn_a/rh_p12_rn_a_position/command std_msgs/Float64 "data: 1.1"