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Simulation with MoveIt and Gazebo

Launch RViz with the robot model​

ros2 launch giraffe_description display.launch.py

This command starts the robot state in RViz using joint_state_publisher and robot_state_publisher.

Run the physics-based simulation​

ros2 launch giraffe_description simulation.launch.py

This launches Gazebo Fortress and spawns the robot into the simulated world using ROS 2 control interfaces.

Start MoveIt for interactive planning​

ros2 launch giraffe_description moveit_sim.launch.py

This launches RViz with MoveIt integration to allow for:

  • Interactive motion planning
  • End-effector goal setting
  • Trajectory visualization and execution

Ensure the simulation is running before launching MoveIt so controllers can connect to the simulated robot.