12.9. Simulation 模擬

• 在 Gazebo 模擬器內載入TB3 with OpenManipulator 的檔案，點擊 Play 鈕

$ export TURTLEBOT3_MODEL=${TB3_MODEL}
$ roslaunch open_manipulator_with_tb3_gazebo empty_world.launch

• 輸入 rostopic list 來看看哪個 topic 有啟動

$ rostopic list

/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/gazebo_ros_control/pid_gains/gripper/parameter_descriptions
/gazebo_ros_control/pid_gains/gripper/parameter_updates
/gazebo_ros_control/pid_gains/gripper/state
/gazebo_ros_control/pid_gains/gripper_sub/parameter_descriptions
/gazebo_ros_control/pid_gains/gripper_sub/parameter_updates
/gazebo_ros_control/pid_gains/gripper_sub/state
/gazebo_ros_control/pid_gains/joint1/parameter_descriptions
/gazebo_ros_control/pid_gains/joint1/parameter_updates
/gazebo_ros_control/pid_gains/joint1/state
/gazebo_ros_control/pid_gains/joint2/parameter_descriptions
/gazebo_ros_control/pid_gains/joint2/parameter_updates
/gazebo_ros_control/pid_gains/joint2/state
/gazebo_ros_control/pid_gains/joint3/parameter_descriptions
/gazebo_ros_control/pid_gains/joint3/parameter_updates
/gazebo_ros_control/pid_gains/joint3/state
/gazebo_ros_control/pid_gains/joint4/parameter_descriptions
/gazebo_ros_control/pid_gains/joint4/parameter_updates
/gazebo_ros_control/pid_gains/joint4/state
/om_with_tb3/camera/parameter_descriptions
/om_with_tb3/camera/parameter_updates
/om_with_tb3/camera/rgb/camera_info
/om_with_tb3/camera/rgb/image_raw
/om_with_tb3/camera/rgb/image_raw/compressed
/om_with_tb3/camera/rgb/image_raw/compressed/parameter_descriptions
/om_with_tb3/camera/rgb/image_raw/compressed/parameter_updates
/om_with_tb3/camera/rgb/image_raw/compressedDepth
/om_with_tb3/camera/rgb/image_raw/compressedDepth/parameter_descriptions
/om_with_tb3/camera/rgb/image_raw/compressedDepth/parameter_updates
/om_with_tb3/camera/rgb/image_raw/theora
/om_with_tb3/camera/rgb/image_raw/theora/parameter_descriptions
/om_with_tb3/camera/rgb/image_raw/theora/parameter_updates
/om_with_tb3/cmd_vel
/om_with_tb3/gripper_position/command
/om_with_tb3/gripper_sub_position/command
/om_with_tb3/imu
/om_with_tb3/joint1_position/command
/om_with_tb3/joint2_position/command
/om_with_tb3/joint3_position/command
/om_with_tb3/joint4_position/command
/om_with_tb3/joint_states
/om_with_tb3/odom
/om_with_tb3/scan
/rosout
/rosout_agg
/tf
/tf_static

• 在 Gazebo 模擬器內的 OpenManipulator 機器手臂是由 ROS message 來控制。例如，使用以下指令來發布關節的位置 joint position(radian)

$ rostopic pub /om_with_tb3/joint4_position/command std_msgs/Float64 "data: -0.21" --once