Launch Gazebo

INFO

It is recommended to run this on a PC other than the OMY device.

1. Prepare the OM Container

Refer to the Setup Guide to configure the OM container environment.

2. Enable GUI Access

Open a new terminal and run the following command:

xhost +

3. Access the Running Container

./docker/container.sh enter

4. Launch Gazebo

Launch the simulation environment using:

ros2 launch open_manipulator_bringup omy_f3m_gazebo.launch.py

5. Run MoveIt and GUI in Simulation

Refer to the Operation page to control the robot within the Gazebo environment.

Simulation Views

OMY_F3M

OMY_3M