Skip to main content

Lab 3: Gazebo Simulation

Objective​

Spawn your humanoid in Gazebo and add a camera sensor.

Steps​

  1. Install Gazebo ROS Packages: Ensure ros-humble-ros-gz is installed.
  2. Modify URDF: Add <gazebo> tags and the camera plugin to your URDF.
  3. Spawn Robot: Use ros2 run ros_gz_sim create to spawn the URDF into an empty world.
  4. Visualize Camera: Run ros2 run rqt_image_view rqt_image_view to see the camera feed.

Deliverable​

A screenshot showing the Gazebo window and the RQT image view side-by-side.