Moveit2 + Gazebo Co-simulation

This section explains how to perform a joint simulation of Agilebot robots using MoveIt 2 and Gazebo. Motion planning is first carried out using MoveIt 2, and the planned trajectory is then sent to Gazebo via an action interface for simulation.

Moveit2+Gazebo Co-simulation

You can combine Moveit2 and Gazebo to create complex simulation scenarios for Agilebot robots. Follow the steps below:

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Terminal 1: Launch Gazebo Simulation

First, start the Gazebo simulation in one terminal window:

ros2 launch <robot type>_moveit_config gazebo.launch.py

Example for C5A model:

ros2 launch c5a_moveit_config gazebo.launch.py

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Terminal 2: Launch Moveit2 and RViz

Then, start Moveit2 and RViz in another terminal window:

ros2 launch <robot type>_moveit_config gazebo_moveit_rviz.launch.py

Example for C5A model:

ros2 launch c5a_moveit_config gazebo_moveit_rviz.launch.py

This will simultaneously launch:

• Gazebo simulation with the robot model
• Moveit2 RViz interface for motion planning

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Supported Robot Models

The following collaborative robot models are currently supported for co-simulation:

• C5A - 5kg payload collaborative robot
• C7A - 7kg payload collaborative robot
• C12A - 12kg payload collaborative robot
• C16A - 16kg payload collaborative robot

To use other robot models, simply replace {robot type} in the commands with the corresponding model, for example:

# C7A robot
ros2 launch c7a_moveit_config gazebo.launch.py
ros2 launch c7a_moveit_config gazebo_moveit_rviz.launch.py

# C12A robot
ros2 launch c12a_moveit_config gazebo.launch.py
ros2 launch c12a_moveit_config gazebo_moveit_rviz.launch.py

# C16A robot
ros2 launch c16a_moveit_config gazebo.launch.py
ros2 launch c16a_moveit_config gazebo_moveit_rviz.launch.py

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Note:

• Only C5A robot is currently supported for co-simulation.
• Support for other collaborative robots is under development.
• Users can customize configurations using Moveit2 official documentation.