Make sure you have already installed ros_control, ros_controllers, and their dependencies as described in the Using URDF in Gazebo tutorial, as an example for the plugins covered here. We will again be using the RRBot that was setup in the
This tutorial builds off of many of the concepts in the previous tutorials. Simulating a robot's controllers in Gazebo can be accomplished using ros_control and a simple Gazebo plugin adapter.Īn overview of the relationship between simulation, hardware, controllers and transmissions is shown below: We encourage you to read an overview of the documentation on ros_control before proceeding. We will be using the ros_control packages, a new standard in ROS for controller interfaces. This will allow us to provide the correct ROS interfaces for planners like MoveIt!.
In this tutorial we will setup simulated controllers to actuate the joints of your robot.