gripper_selection_grasping_taxonomy/startup_file at main · marutdevsharma/gripper_selection_grasping_taxonomy · GitHub

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step (1)
mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/
catkin_make
source devel/setup.bash

step(2)
cd ~/catkin_ws/src
catkin_create_pkg my_robot_pkg rospy gazebo_ros

step(3)
<!-- ~/catkin_ws/src/my_robot_pkg/launch/gazebo.launch -->
<launch>
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="paused" value="false"/>
        <arg name="use_sim_time" value="true"/>
        <arg name="gui" value="true"/>
        <arg name="headless" value="false"/>
        <arg name="debug" value="false"/>
    </include>
    <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model my_robot"/>
</launch>

step(4)
<!-- ~/catkin_ws/src/my_robot_pkg/urdf/your_robot.urdf -->
<!-- Add your URDF robot model here -->

step(5)
cd ~/catkin_ws/
catkin_make

step(6)
roslaunch my_robot_pkg gazebo.launch