Visualize Robot in Gazebo RoboMaker

Question

I'm following the helloworld tutorial for RoboMaker, and when I have to launch the simulation application with the following command: 
>docker run -it -v /tmp/.X11-unix/:/tmp/.X11-unix/ \-u robomaker -e ROBOMAKER_GAZEBO_MASTER_URI=http://localhost:5555 \-e ROBOMAKER_ROS_MASTER_URI=http://localhost:11311 \robomaker-helloworld-sim-app:latest roslaunch hello_world_simulation empty_world.launch

it runs the application but it does not open Gazebo in the virtual desktop to visualize the robot. How do I have to change this command?

Answer

Use the following commands to visualize the simulation using the Gazebo GUI tool:

1. Connect to your container running the simulation application.
2. Visualize your application by running the Gazebo Graphical User Interface (GUI)

```
# Enable access to X server to launch Gazebo from docker container
$ xhost +

# Check that the robot_app and sim_app containers are running. The command should list both containers
$ docker container ls

# Connect to the sim app container
$ docker exec -it sim_app bash

# Launch Gazebo from within the container
$ rosrun gazebo_ros gzclient   
```
For more information, see the documentation on [Running a sample application with ROS Melodic and Gazebo 9](https://docs.aws.amazon.com/robomaker/latest/dg/run-hello-world-ros.html). (There is also separate documentation for ROS2 Foxy and Gazebo 11).

Visualize Robot in Gazebo RoboMaker

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