Elite Robots Gazebo Simulation

ROS 2 launch files and controller configuration for simulating Elite Robots manipulators in Gazebo.

Dependencies

This package uses:

• elite_robots_description
• elite_robots_moveit_config when launching MoveIt
• ros_gz_sim and ign_ros2_control
• ros2_control, RViz, and Xacro

Install dependencies from the root of your ROS 2 workspace:

rosdep install --from-paths src --ignore-src -r -y

Build

colcon build --packages-select elite_robots_simulation_gz
source install/setup.bash

Run the simulation

Start Gazebo and the ROS 2 controllers:

ros2 launch elite_robots_simulation_gz elite_sim_control.launch.py cs_type:=cs66

Start Gazebo together with MoveIt:

ros2 launch elite_robots_simulation_gz elite_sim_moveit.launch.py cs_type:=cs66

Supported cs_type values are cs63, cs66, cs612, cs616, cs618f, cs620, cs625, cs66a, cs68, cs520h, and ls65.

Useful launch arguments include:

• launch_rviz: launch RViz with the control-only simulation
• start_joint_controller: start the initial controller in the active state
• initial_joint_controller: select the controller to load
• controllers_file: override the controller configuration
• prefix: add a prefix to joint names for multi-robot setups

Use ros2 launch ... --show-args to list every available argument.

Send an example trajectory

After starting the control simulation:

ros2 run elite_robots_simulation_gz gz_control.py --example

To load waypoints from a YAML file:

ros2 run elite_robots_simulation_gz gz_control.py --from-yaml /path/to/waypoints.yaml

Each waypoint must contain six joint positions and may specify its duration:

- positions: [0.0, -1.57, 0.0, -1.57, 0.0, 0.0]
  duration: 2.0

License

Apache License 2.0. See LICENSE.