NASA Lunar Gateway robot description (URDF + meshes + launch files to run in Gazebo). Models obtained from this public repository

Setup: ROS2 Jazzy. Gazebo Harmonic

How to run:

ros2 launch gateway_description gateway_gz.launch.py

You should see something like this:

To move the arms, you can use the big_arm/ and little_arm/ services, named close_arm, open_arm and random_arm. For instance:

ros2 service call /big_arm/open_arm std_srvs/srv/Empty {}
ros2 service call /little_arm/random_arm std_srvs/srv/Empty {}