# Moveit2 with Gazebo Sim Examples

**URL:** <https://discourse.openrobotics.org/t/moveit2-with-gazebo-sim-examples/49110>\
**Category:** Gazebo General\
**Tags:** ros2\
**Created:** [March 23, 2025, 2:32am UTC](https://discourse.openrobotics.org/t/moveit2-with-gazebo-sim-examples/49110 "2025-03-23T02:32:00Z")\
**Posts on this page:** 2\
**Page:** 1

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**Author:** ![ZiadAmmar](https://avatars.discourse-cdn.com/v4/letter/z/ed655f/32.png) [@ZiadAmmar](https://discourse.openrobotics.org/u/ZiadAmmar)\
**Post date:** [March 23, 2025, 2:32am UTC](https://discourse.openrobotics.org/t/moveit2-with-gazebo-sim-examples/49110/1 "2025-03-23T02:32:00Z")

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Hello there,  
Could someone point me to some examples of a simulation package that uses Gazebo Sim for a Moveit configured robot (Humanoid or robotic arm)?  
I am trying to learn how to launch a simulation with Gazebo Sim Harmonic for a robotic arm or a humanoid controlled by moveit2.  
Thanks for all your help and suggestion in advance!

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**Author:** ![jrivero](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/jrivero/32/239_2.png) [@jrivero](https://discourse.openrobotics.org/u/jrivero)\
**Post date:** [March 25, 2025, 10:11pm UTC](https://discourse.openrobotics.org/t/moveit2-with-gazebo-sim-examples/49110/2 "2025-03-25T22:11:08Z")

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There might be other examples but @AndrejOrsula created one of the best examples in [GitHub - AndrejOrsula/gz\_moveit2\_examples: C++ and Python examples of using MoveIt 2 inside Gazebo simulation environment](https://github.com/AndrejOrsula/gz_moveit2_examples).

ℹ Your question is good on time since we are looking for volunteers to modernize that example. First piece is to update the Panda Manipulator from Fortress to Harmonic, I wrote some instructions [Modernize the ROS and Gazebo versions · Issue #37 · AndrejOrsula/panda\_gz\_moveit2 · GitHub](https://github.com/AndrejOrsula/panda_gz_moveit2/issues/37) .

A side of this, I’ve updated today my personal doc index after ROBOTIS publicly announce the support for [ROS 2 Jazzy and Gazebo Harmonic in the OpenMANIPULATOR-X](https://discourse.openrobotics.org/t/openmanipulator-x-now-supporting-ros-2-jazzy-gazebo-harmonic/42783). See the ROS page in the [Gazebo Documentation Index](https://j-rivero.github.io/gazebo-doc-index/categories/3_ros.html) .

Hope it helps!