This tutorial describes how to use Sawyer with Gazebo the standard Physics Simulator for ROS.
Note: This page describes an upcoming feature in Intera 5.2. Gazebo Simulation for Sawyer is not yet released. There will be a release announcement in 2018
- Make sure you have followed the Workstation Setup tutorial before beginning this section. Sawyer Gazebo is only available for Ubuntu 16.04, ROS Kinetic, and Gazebo 7.
- Ensure the following software packages are installed:
Sawyer Simulator Installation
- From your catkin workspace where the SDK resides, use wstool to install and update:
$ git clone https://github.com/RethinkRobotics/sawyer_simulator.git
$ cd sawyer_simulator
$ git checkout release-5.2.0
$ cd ~/ros_ws/src
$ wstool init .
$ wstool merge sawyer_simulator/sawyer_simulator.rosinstall
$ wstool update
IMPORTANT: Make sure all simulator repositories update to their proper branch.
$ cd ~/ros_ws
- The intera.sh shell has a special hook for Simulation. Run the Intera shell script with sim specified:
- Start simulation with controllers:
Check if the simulator was installed and launched successfully by typing the following commands:
This should list the nodes as here.
This should list the topics as here.
By default, the following messages should be displayed at 100 HZ.
Run SDK Examples
- Start Joint Torque Springs example:
$ roslaunch sawyer_gazebo sawyer_world.launch
*in a new terminal*
$ ./intera.sh sim
$ rosrun intera_examples joint_torque_springs.py
- Or, Start Simulated Pick and Place example:
$ roslaunch sawyer_sim_examples sawyer_pick_and_place_demo.launch
For additional information on the interfaces that are implemented with this release, visit the Simulator API page.
- Please refer to the troubleshooting page Gazebo Troubleshooting