ros2-docs/docs/Husky 200/Simulator.md

launching simulator

ros2 launch clearpath_gz simulation.launch.py setup_path:=$HOME/clearpath

Using Manipulator

robot.yaml

serial_number: a200-0000
version: 0
system:
  hosts:
    - hostname: cpr-a200-0000
      ip: 192.168.131.1
  ros2:
    namespace: a200_0000
platform:
  attachments:
    - name: front_bumper
      type: a200.bumper
      parent: front_bumper_mount
    - name: rear_bumper
      type: a200.bumper
      parent: rear_bumper_mount
    - name: top_plate
      type: a200.top_plate
manipulators:
  arms:
    - model: kinova_gen3_lite
      parent: top_plate_default_mount
      xyz: [0.0, 0.0, 0.0]
      rpy: [0.0, 0.0, 0.0]
      ip: 192.168.131.40
      port: 10000
      gripper:
        model: kinova_2f_lite

Launch the simulation

ros2 launch clearpath_gz simulation.launch.py setup_path:=$HOME/clearpath

Launch MoveIt! by passing the same robot setup directory and setting the simulation flag.

ros2 launch clearpath_manipulators moveit.launch.py setup_path:=$HOME/clearpath use_sim_time:=true

Launch RViz by passing the robot's namespace and enabling the simulation flag.

ros2 launch clearpath_viz view_moveit.launch.py namespace:=a200_0000 use_sim_time:=True