Simulation and control

Gazebo Harmonic is the acceptance simulator. The classical control path below MoveIt is ros2_control → gz_ros2_control → Gazebo joints.

FollowJointTrajectory (arm / rail / gripper)
        │
        ▼
controller_manager  →  gz_ros2_control  →  Gazebo joints
        │
        └── joint_state_broadcaster → /joint_states
                                      → joint_state_telemetry_adapter → RobotTelemetry

Deployed composition

just launch-baseline starts the stack below, sensor-driven by default: the wrist tray duties own the world state's object ingest topic and the wrist lane survey its lane topic, with simulator ground truth demoted to /perception/ground_truth/* for the evaluators. The overhead camera stays on and is used for obstacle detection only (depth_obstacle_node, obstacle boxes on); the overhead object pipeline and the reasoner are off by default.

just launch-baseline composition

restock_action_coordinator/restock_product · admission gate

world_state_nodesnapshots · reservations · commits

planning_scene_projector + move_groupscene diffs · OMPL · execution

controllers + Gazebo + attachmentros2_control · gz_ros2_control · plugin

Enabled by default: wrist perception · lane survey · depth obstacles. Opt-in: coordinated tray survey / campaign · overhead object perception · reasoner.

just launch-sim starts Gazebo + control + world state (+ optional perception) without MoveIt or the coordinator. See How to run.

What simulation owns

Concern	Package / artifact
World SDF, products, scenarios	restocker_gazebo
Attachment system plugin	attachment_system.cpp
Ground-truth observations	ground_truth_adapter
Attachment ROS adapter	attachment_adapter_node (baseline)
Controllers	restocker_control/config/controllers.yaml

Arm and rail use velocity (+ feed-forward) controllers; the gripper stays position-controlled. Attachment is capability-authorized through the ROS adapter; do not call raw Gazebo Transport set APIs from application code.

References

• Official docs: Gazebo Harmonic · ros2_control Jazzy
• Reference implementation: gz_ros2_control · ros_gz
• This project: Fundamentals: Gazebo