How to Make a Simulation - General Advice Needed

Hi all,

I currently have a working pick-and-place ROS package (with a real robot). I would like to create a Gazebo simulation. Currently, I can use RVIZ+Moveit to control my robot model in gazebo manually (in an empty world).

I would like to add the target objects (fruit) during run time. Should I add the fruit to my robot urdf file? Or is it better to try and add these objects in a gazebo world?

I am fairly new to gazebo and trying to simulate a ROS environment, so any advice helps. If anyone has a link to a good example project, I would appreciate it.

Asked by fruitbot on 2020-10-28 11:42:29 UTC

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Answers

Hello,

I see in your tags that you are using a UR robot. Probably a good starting point is this repo. At the end of the README you will find how to launch the simulation.

Regards

Asked by ahcorde on 2020-10-29 12:21:01 UTC

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I am actually already using this package to interface Moveit with Gazebo. It is useful for manipulating the robot, but doesn't go beyond that to show any example of the robot interacting with it's environment.

Thank you

Asked by fruitbot on 2020-10-29 14:08:10 UTC