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 package to the MoveIt Pro Simulator 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.