Getting Started with Gazebo

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 ROS 2 (Physical AI Tools) 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

./container.sh enter

4. Launch Gazebo

Launch the simulation environment using:

ros2 launch open_manipulator_bringup omx_f_gazebo.launch.py

5. Run MoveIt and GUI in Simulation

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

Simulation Views

OMX_F