Simulating with Gazebo
=======================

If you do not have a physical robot and physical sensors, you can instead simulate everything using ``gazebo``.

The Robot Customizer ROS package provides a useful ``.launch`` file for simulation in ``gazebo``. This file is called ``gazebo.launch``, and can be found `here <https://github.com/clearpathrobotics/cpr_robot_customizer/blob/noetic-devel/launch/gazebo.launch>`_.

To use it, simply launch ``gazebo.launch`` and provide the ``description_launch`` argument with the path to your robot's ``.launch`` file. For example, you can simulate the model of the example ``generic_robot.urdf.xacro`` robot along with the SICK LMS1xx 2D laser scanner attached to it. In terminal, run:

.. code-block:: bash

  roslaunch cpr_robot_customizer gazebo.launch description_launch:=/home/administrator/catkin_ws/src/cpr_robot_customizer/example/description.launch

Once ``gazebo`` loads, you should see the model of the example generic robot, along with the SICK LMS1xx 2D laser scanner mounted ontop of the ``box`` link.

.. image:: images/gazebo.png
    :alt: Robot Customizer Gazebo