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

References

• Gazebo Tutorials

• Doosan ROS2 Manual