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Can I do on my robot.urdf in RViz without real hardware access? (Simulation mode only)

asked 2016-10-29 07:16:20 -0500

Chucolate gravatar image

I'm not sure that I can do simulation mode first without real hardware access. If yes, How to do that?

I appreciate any help and pointers in any direction.

Thanks. :

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answered 2016-10-29 08:15:42 -0500

gvdhoorn gravatar image

updated 2016-10-29 08:16:09 -0500

First (and slightly pedantic, but important): RViz is not a simulator. It's a data(flow) visualisation tool.

If you want a full dynamic simulation of a robot (ie: including physics), you could use Gazebo, V-REP or any other simulator. You only need a model of your robot for that (kinematics, dynamics, geometry, etc).

Your ROS nodes can treat the simulated robot as a real robot, and RViz can visualise data coming from the simulator just as it would data coming from a real robot. There isn't really a difference.

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It means that I need to work simulator on Gazebo first and then use simulator data from Gazebo for RViz right?

Big thanks.

Chucolate gravatar image Chucolate  ( 2016-10-29 08:55:02 -0500 )edit

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Asked: 2016-10-29 07:16:20 -0500

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Last updated: Oct 29 '16