ROS Programming: Building Powerful Robots

Simulating the robotic arm with Xtion Pro

After discussing the camera plugin definition in Gazebo, we can launch the complete simulation using the following command:

    $ roslaunch seven_dof_arm_gazebo seven_dof_arm_world.launch 

We can see the robot model with a sensor on the top of the arm, as shown here:

Figure 2 : Simulation of seven DOF arm with Asus Xtion Pro in Gazebo

We can work with the Xtion Pro data from Gazebo and check whether it provides the correct image output.