feat: add gazebo documentation

source/franka_ros2.rst

@@ -561,6 +561,108 @@ This package contains a modified joint_trajectory_controller that can use the ef
     `ros2_controllers <https://github.com/ros-controls/ros2_controllers/tree/master/joint_trajectory_controller>`_ master branch.
     As soon as, it's backported to Humble, it will be deleted from franka_ros2 repository.
 
+
+franka_gazebo
+^^^^^^^^^^^^^
+
+.. important::
+
+    Minimum necessary `franka_description` version is 0.3.0.
+    You can clone franka_description package from https://github.com/frankaemika/franka_description.
+
+A project integrating Franka ROS 2 with the Gazebo simulator.
+
+Launch RVIZ + Gazebo
+""""""""""""""""""""
+
+Launch an example which spawns RVIZ and Gazebo showing the robot:
+
+
+.. code-block:: shell
+
+    ros2 launch franka_gazebo_bringup visualize_franka_robot.launch.py
+
+If you want to display another robot, you can define the arm_id:
+
+.. code-block:: shell
+
+    ros2 launch franka_gazebo_bringup visualize_franka_robot.launch.py arm_id:=fp3
+
+If you want to start the simulation including the franka_hand:
+
+.. code-block:: shell
+
+    ros2 launch franka_gazebo_bringup visualize_franka_robot.launch.py load_gripper:=true franka_hand:='franka_hand'
+
+Joint Velocity Control Example with Gazebo
+""""""""""""""""""""""""""""""""""""""""""
+
+Before starting, be sure to build `franka_example_controllers` and `franka_description` packages.
+`franka_description` must have the minimum version of 0.3.0.
+
+
+.. code-block:: shell
+
+    colcon build --packages-select franka_example_controllers
+
+
+Now you can launch the velocity example with Gazebo simulator.
+
+.. code-block:: shell
+
+    ros2 launch franka_gazebo_bringup gazebo_joint_velocity_controller_example.launch.py load_gripper:=true franka_hand:='franka_hand'
+
+
+Keep in mind that the gripper joint has a bug with the joint velocity controller. 
+If you are interested in controlling the gripper please use joint position interface.
+
+
+Joint Position Control Example with Gazebo
+""""""""""""""""""""""""""""""""""""""""""
+
+To run the joint position control example you need to have the required software listed in the joint velocity control section.
+
+Then you can run with the following command.
+
+.. code-block:: shell
+
+    ros2 launch franka_gazebo_bringup gazebo_joint_position_controller_example.launch.py load_gripper:=true franka_hand:='franka_hand'
+
+
+Joint Impedance Control Example with Gazebo
+""""""""""""""""""""""""""""""""""""""""""""""
+
+For running torque example. You must compile the `franka_ign_ros2_control` package located under `franka_gazebo`.
+You can compile `franka_ign_ros2_control` with the following command.
+
+.. code-block:: shell
+
+    colcon build --packages-select franka_ign_ros2_control
+
+Then source your workspace.
+
+.. code-block:: shell
+
+    source install/setup.sh
+
+Then you can run the impedance control example.
+
+.. code-block:: shell
+
+    ros2 launch franka_gazebo_bringup gazebo_joint_impedance_controller_example.launch.py load_gripper:=true franka_hand:='franka_hand'
+
+
+Throubleshooting
+""""""""""""""""
+
+If you experience that Gazebo can't find your model files, try to include the workspace. E.g.
+
+
+.. code-block:: shell
+
+    export GZ_SIM_RESOURCE_PATH=${GZ_SIM_RESOURCE_PATH}:/workspaces/src/
+
+
 Differences between franka_ros and franka_ros2
 ----------------------------------------------
 
@@ -577,12 +679,6 @@ franka_gripper
 
 * All actions (apart from the ``gripper_action``) have the current gripper width as feedback.
 
-franka_gazebo
-^^^^^^^^^^^^^
-
-Currently, we do not offer a Gazebo integration with ``franka_ros2``. However, we provide one
-with :doc:`franka_ros`.
-
 franka_visualization
 ^^^^^^^^^^^^^^^^^^^^