Getting Started with Gazebo

Overview

You can launch Gazebo and RViz(Moveit) individually, or launch RViz together with the physical hardware.

Launch Gazebo simulation: Use this command to run a dynamic simulation of the AI Worker in the Gazebo simulator.

bash

ros2 launch ffw_bringup ffw_bg2_follower_ai_gazebo.launch.py
# Launch Gazebo with the AI Worker Follower model (FFW-BG2)

View model in RViz only: Use this command when you want to visualize the robot model in RViz without running a full simulation or the physical hardware.
bash
```
ros2 launch ffw_description model_view.launch.py
# Launch RViz with the AI Worker model
```
Launch RViz with physical hardware: Use this command when you want to operate the physical AI Worker hardware and monitor its status in RViz. This command will launch RViz alongside the hardware interface.
bash
```
ros2 launch ffw_bringup ffw_bg2_follower_ai.launch.py
# Launch the AI Worker Follower (FFW-BG2) hardware interface and RViz
```
- Note: This command is the same as the Follower launch command in the Teleoperation Guide and will also launch the cameras by default. To run without cameras, you can add the launch_cameras:=false argument.

FFW BG2 Simulation

FFW SG2 Simulation

Launch Moveit: You can use the following command to launch Moveit for both FFW-SG2 and FFW-BG2:

bash

ros2 launch ffw_moveit_config moveit.launch.py
# Launch Moveit with the AI Worker Follower model (FFW-BG2, FFW-SG2)

If you are using Gazebo, you should add the argument use_sim:=true:

bash

ros2 launch ffw_moveit_config moveit.launch.py use_sim:=true
# Launch Moveit in simulation mode