BRUCE Tutorial 07: Simulation Operation
Westwood Robotics’ presenter explains how to launch BRUCE in Gazebo and start or stop its simulation controls.
In this talk
- 0:07
Confirm the simulation setup
Before operating BRUCE in Gazebo, ensure its simulation environment is set up correctly. Tutorial 6 covers building that environment.
- 0:26
Launch the Gazebo world
Move to `bruce_o/simulation/world` and run `gazebo -verbose bruce.world`. BRUCE should appear suspended in its default posture when the world loads.
- 0:48
Start the control stack
In another terminal, go to `bruce_op/run_simulation` and run `simbot_up.sh`, observing the command’s capitalization. Follow the prompts to start low-level, high-level, and top-level control; once the top-level cockpit is active, you can operate the simulated robot much like the physical one.
- 1:39
Stop or restart the session
To end the session, detach from the screen session with Ctrl+A followed by D, then confirm with Y. To start again, run `simbot_up.sh` from the `bruce_op` directory.
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