In this first post we have simulated Widow-X arm in ROS/Indigo. There are several simulators available in ROS, for instance:

– MoveIt!, which is a motion planning.

– Stage, very useful to 2D navigation.

– Gazebo, tool to test algorithms and design robots.

– Rviz, tool to visualize the robots.

For this project Gazebo has been selected with its recommended version for Indigo, Gazebo 2.X. If you are not using Indigo, take a look to this web to know which Gazebo version you need.

The model and its home position are shown in the following figures.