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Simulation

Launch gazebo​

  1. Close all terminals, then open new terminals and enter the commands below to load OpenMANIPULATOR-X on the Gazebo simulator.
$ ros2 launch open_manipulator_bringup open_manipulator_x_gazebo.launch.py
  1. The red cube indicates the end-effector link.

Operation in Gazebo​

In order to control the simulated OpenMANIPULATOR-X, launch the OpenMANIPULATOR-X control GUI or Keyboard teleoperation
Click to view detailed instructions.

  • GUI Program

    Terminal 1 - Launch the Gazebo simulation:

    $ ros2 launch open_manipulator_bringup open_manipulator_x_gazebo.launch.py

    Terminal 2 - Launch MoveIt configuration:

    $ ros2 launch open_manipulator_moveit_config open_manipulator_x_moveit.launch.py use_sim:=true

    Terminal 3 - Launch GUI program:

    $ ros2 launch open_manipulator_gui open_manipulator_x_gui.launch.py

  • Keyboard Teleoperation

    Terminal 1 - Launch the Gazebo simulation:

    $ ros2 launch open_manipulator_bringup open_manipulator_x_gazebo.launch.py

    Terminal 2 - Launch teleoperation:

    $ ros2 run open_manipulator_teleop open_manipulator_x_teleop
    [INFO] [1751512149.624709736] [keyboard_controller]: Waiting for /joint_states...
    [INFO] [1751512149.625639191] [keyboard_controller]: Waiting for initial joint states...
    [INFO] [1751512149.626929914] [keyboard_controller]: Received joint states: [-0.05982525065917969, -0.9157865293212891, 0.8517752421836835, 0.0], Gripper: 0.0
    [INFO] [1751512149.627527555] [keyboard_controller]: Ready to receive keyboard input!
    [INFO] [1751512149.627527555] [keyboard_controller]: Use 1/q, 2/w, 3/e, 4/r for joints 1-4, o/p for gripper. Press ESC to exit.
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