Simulating the robotic arm using Gazebo and ROS

In the previous chapter, we designed a seven DOF arm. In this section, we will simulate the robot in Gazebo using ROS.

Before starting with Gazebo and ROS, we should install the following packages to work with Gazebo and ROS:

sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-msgs ros-noetic-gazebo-plugins ros-noetic-gazebo-ros-control

The default version installed from Noetic ROS packages is Gazebo 11.x. The use of each package is as follows:

• gazebo_ros_pkgs: This contains wrappers and tools for interfacing ROS with Gazebo.
• gazebo-msgs: This contains messages and service data structures for interfacing with Gazebo from ROS.
• gazebo-plugins: This contains Gazebo plugins for sensors, actuators, and so on.
• gazebo-ros-control: This contains standard controllers to communicate between ROS and Gazebo.

After installation, check whether Gazebo is properly installed using the following commands...