BRUCE Tutorial 06: Simulation Setup
A Westwood Robotics presenter explains how to configure BRUCE Gym’s Gazebo simulation environment and check that it runs.
In this talk
- 0:14
Prepare the system
The presenter recommends Ubuntu 22.04 and says BRUCE Gym is designed for 64-bit x86 machines. Compatibility with other architectures is not guaranteed.
- 0:41
Install Gazebo
Install the required dependencies, then run `sudo apt install gazebo` from a terminal in the home directory and confirm the prompt. Installation may take five minutes or longer; launch `gazebo` afterward to check that it works.
- 1:23
Connect BRUCE to Gazebo
Get the BRUCE-OP project files, enter the `bruce-op` directory, and follow the simulation folder’s README to connect the robot model to Gazebo. Add the BRUCE Gym plugins so the simulator can communicate with and control the robot.
- 1:55
Configure and verify simulation
Enable simulation mode in `walking_macros` and precompile the Python files in the robot model and state estimation directories; compilation can take a minute or more. Then run `gazebo --verbose bruce.world` from `bruce-op/sl_simulation/slot_gazebo`. A successful launch shows BRUCE suspended in its nominal posture.
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