Simulate the Robot in Gazebo

This section explains how to simulate Agilebot robots in Gazebo—a highly extensible 3D robotics simulator with multi‑engine physics support (ODE, Bullet, DART), rich sensor plugins (LiDAR, depth camera, IMU, GPS), and tight ROS 2 integration via gazebo_ros_pkgs. Gazebo lets you safely test and refine algorithms in realistic virtual environments before deploying on real hardware.

To simulate Agilebot robots in Gazebo, use the following command:

ros2 launch gbt_gazebo gazebo_demo.launch.py robot_type:=<robot_type> [controller_name:=<controller_name>]

For example, to launch the Gazebo simulation for the C5A model robot:

ros2 launch gbt_gazebo gazebo_demo.launch.py robot_type:=C5A controller_name:=gbt_c5a_arm_controller

This will open Gazebo and load the corresponding robot model with environment settings.

The controller name is usually gbt_{robot_type}_arm_controller , please refer to the corresponding robot controller configuration file in the gbt_moveit package for the specific name.

For example: gbt_moveit_config/c5a_moveit_config/config/ros2_controllers.yaml

The controller_name parameter is optional. If left empty, it will be automatically generated using the default naming rule: gbt_{robot_type.lower()}_arm_controller .

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Configuration and Customization

You can customize the Gazebo simulation environment by modifying files in the config directory, including:

• Adjusting physical parameters
• Adding/removing objects

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Notes

If Gazebo fails to close properly, use the following command to force termination:

kill -9 $(ps aux | grep '[g]azebo' | awk '{print $2}')