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Gazebo Simulation

Gazebo is a powerful robot simulator that allows testing and development in a virtual 3D environment.

Key Features​

  • Physics-based simulation
  • Sensor simulation (LIDAR, camera, IMU)
  • Robot model testing without physical hardware
  • Supports ROS 2 integration

Getting Started​

  1. Install Gazebo and ROS 2 integration packages.
  2. Load your robot URDF/Xacro model.
  3. Launch the simulation using a .launch.py file.
  4. Interact with the robot using ROS 2 topics, services, and actions.

Example Launch Command​

ros2 launch humanoid_gazebo simulation.launch.py