Gazebo Simulation

This launch file starts the robot in the Gazebo simulator with optional RViz2.

Command

ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py [arguments]

Arguments

mode: Operation mode - real: Connect to a physical Doosan robot - virtual: Run in emulator/simulation mode
model: Robot model name (e.g., m1013, a0509, p3020)
host: IP address of robot controller or emulator
port: Port for DRCF emulator (default: 12345)
x, y: Initial spawn position in Gazebo

Examples

Real Mode (Physical Robot)

This will connect to the real robot enabling motion control for both the real and simulated robots.
ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=real host:=192.168.137.100 model:=m1013

Virtual Mode (Simulation)

ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=virtual host:=127.0.0.1 port:=12346 model:=m1013 x:=0 y:=0

Test Motion Example

Once Gazebo is running, you can test the setup by executing a simple motion script.

Open a new terminal and run the following command:

ros2 run dsr_example dance

Multi-Arm Simulation

You can spawn multiple robots in Gazebo for multi-arm coordination and visualization.

Note

Each robot must have a unique name, port, and x/y location to prevent collision. Multiple emulators will increase CPU usage and may impact performance.

Step 1. Launch First Robot

ros2 launch dsr_bringup2 dsr_bringup2_gazebo.launch.py mode:=virtual host:=127.0.0.1 port:=12345 name:=dsr01 model:=m1013 x:=0 y:=0 color:=white

Step 2. Spawn Second Robot

ros2 launch dsr_bringup2 dsr_bringup2_spawn_on_gazebo.launch.py mode:=virtual host:=127.0.0.1 port:=12347 name:=dsr02 x:=2 y:=2