Simple example of working with Gazebo in ROS

• Ubuntu 18.04

• ROS Melodic (full packet) https://wiki.ros.org/melodic/Installation/Ubuntu

• install controllers (sudo apt-get install ros-melodic-ros-control ros-melodic-ros-controllers)

• copy sources to ~/rrbot_ws/src ( this file will be at ~/rrbot_ws/src/rrbot/README.md )

• cd ~/rrbot_ws
• catkin build
• source devel/setup.bash

There are bunch of launch files, to run use command roslaunch pkg_name launch_file_name. For example: roslaunch rrbot_gazebo gazebo.launch

• Some changes requires rebuild (but not all)
• Do not forget source command (if you opened new terminal for example)
• If nothing helps try to manually remove everything except src folder in the workspace (rrbot_ws) and rebuild.
• Do not forget to click play button in the gazebo.
• Do not forget to set chmod +x for your python script

You can use command rostopic list to check what topics are exists. You can use command rostopic pub /rrbot/joint1_position_controller/command std_msgs/Float64 "data: 1.0" to move joint1 to another position.