How to use
The panda_gazebo package contains three types of launch files: world, robot and simulation launch files.
World launch files
World launch files start Gazebo and load a world where the Panda robot can be trained. They don’t spawn the robot.
start_reach_world.launch: Provides a clear environment for reach task training with the robot.
start_push_world.launch: Positions the Panda robot and a box on a table for push task simulations.
start_pick_and_place_world.launch: Includes a table and cube, creating a scenario for pick-and-place exercises.
start_slide_world.launch: Contains a puck and a designated target area to practice precision sliding tasks.
Robot launch file
The put_robot_in_world.launch robot launch files spawn the Panda robot in Gazebo and load the required control services. The robot currently contains three control
modes that can be selected using the control_mode argument:
trajectory: The robot is controlled using joint position trajectories.
position: The robot is controlled using joint position commands.
effort: The robot is controlled using joint effort commands.
Note
You can test different control modes using the joint_efforts_dynamic_reconfigure_server and joint_positions_dynamic_reconfigure_server nodes.
These nodes allow you to send joint efforts and joint positions to the robot. To learn more about utilizing these dynamic reconfigure servers, refer to the
documentation of the dynamic_reconfigure and rqt_reconfigure ROS packages.
Furthermore, you can explore trajectory control using the MoveIt! package or rqt_joint_trajectory_controller package. To enable MoveIt!, set the
use_moveit launch file argument to true. Once enabled, you can control the robot through the RViz Motion Planning panel. For detailed instructions on how to
use MoveIt!, consult the MoveIt! tutorials.
Simulation launch file
The start_simulation.launch launch file combines the two other launch files to start the gazebo world and spawns the Panda robot.
Usage instructions
You can launch any launch files using the roslaunch command-line tool. For example, if you want to start a gazebo simulation
of the Panda robot, you can use the following roslaunch command:
roslaunch panda_gazebo start_simulation.launch
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