Create Robot Sim Configuration
In the previous guide, we were able to launch a MoveIt Pro robot configuration with ros2_control mock hardware and move joints to specific positions. Now we want to connect this robot configuration to MoveIt Pro Sim for physics simulation and physics based sensors. We will do this in the next series of guides with the output of each specific step being visible in a branch of _example_robot_ws.
Create your ROBOT_sim Robot Configuration Folder
If you are following this guide with example_robot_ws, your workspace should look like branch step7.
We will use moveit_pro new config in its interactive mode to add a new robot configuration to our configured workspace.
Run moveit_pro new config and, following previous robot config naming best practices, inherit (based_on_package) from example_robot_mock and use example_robot_sim for the package_name.
Your workspace should now look like step8.