Mastering ROS for Robotics Programming

Summary

After designing the robot, the next phase is its simulation. There are a lot of uses in simulation. We can validate a robot design, and at the same time, we can work with a robot without having its real hardware. There are some situations when we need to work without having a robot hardware. Simulators are useful in all these situations.

In this chapter, we were trying to simulate two robots, one was a robotic arm with seven DOF and the other was a differential wheeled mobile robot. We started with the robotic arm, and discussed the additional Gazebo tags needed to launch the robot in Gazebo. We discussed how to add a 3D vision sensor to the simulation. Later, we created a launch file to start Gazebo with a robotic arm and discussed how ...