This packages provides a custom bridge to control Baxter in Ignition/Gazebo.

The topics are the same as the real robot and use baxter_core_msgs/JointCommand messages.

Running the simulation

The launch files require simple_launch:

• ros2 launch baxter_gz sim_launch.py to run Gazebo

• ros2 launch baxter_gz upload_launch.py to spawn Baxter

  use sliders:=True to have joint command sliders and test the simulation (requires slider_publisher)

Bridges

A custom bridge is used for joint command and end-effector range sensors (Gazebo uses 3D LiDAR, messages are converted to sensor_msgs/Range as for the real robot

Other topics (joint states, images) are bridged through the classical ros_gz_bridge.