ANIMA ROS2 Simulation Network

The complete ROS2 + Gazebo simulation stack for AI-powered robotics. One command to launch. Browser to watch. CLI to control.

Copyright (c) 2026 AIFLOW LABS LIMITED / RobotFlowLabs

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Quick Start

make build    # Build the simulation image
make sim      # Launch the simulation

Then open http://localhost:8080 — live 3-camera dashboard with IMU, LiDAR, odometry, and joint states.

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What You Get

graph TB
    subgraph SIM["Gazebo Harmonic (Headless)"]
        WORLD[6 World Environments]
        ROBOT[Mobile Base Robot<br/>Camera + IMU + LiDAR + Depth]
        TRON[TRON1 Biped<br/>LimX Dynamics 12-DOF]
        PHYSICS[Real-time Physics]
    end

    subgraph BRIDGE["ROS2 Bridge Layer"]
        GZ_BRIDGE[GZ → ROS2 Bridge<br/>All sensor topics]
        COMPRESS[Image Compressor<br/>900KB → 7KB JPEG]
        ROSBRIDGE[Rosbridge WebSocket<br/>Port 9090]
    end

    subgraph ACCESS["Access Layer"]
        VIEWER[Live Web Viewer<br/>http://localhost:8080]
        CLI[ROS2 CLI<br/>ros2 topic pub/echo]
        AGENT[AI Agents<br/>via MCP / rosbridge]
    end

    SIM --> BRIDGE --> ACCESS

    style SIM fill:#1A1A1A,color:#FF3B00,stroke:#FF3B00
    style BRIDGE fill:#050505,color:#f3f3f3,stroke:#FF3B00
    style ACCESS fill:#1A1A1A,color:#f3f3f3,stroke:#FF3B00

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Live Viewer

Open http://localhost:8080 — no install needed.

• 3 live camera feeds (Robot POV + Overhead + Side)
• Real-time IMU, odometry, joint states
• LiDAR 360° scan visualization
• Message rate monitor
• Auto-discovery with sensor badges

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Worlds

World	Description	Best For
warehouse.sdf	Industrial warehouse with shelves + 3 cameras	Logistics, pick-and-place
warehouse_large.sdf	Extended warehouse environment	Large-scale navigation
office.sdf	Office environment	Service robotics
home.sdf	Residential space	Home automation
factory.sdf	Manufacturing floor	Industrial robotics
terrain.sdf	Outdoor terrain	Field robotics

WORLD_FILE=office.sdf make sim

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Robot Sensors

graph LR
    subgraph ROBOT["ANIMA Mobile Base"]
        CAM[RGB Camera<br/>640x480 @ 15fps]
        DEPTH[Depth Camera<br/>320x240 @ 10fps]
        IMU_S[IMU<br/>100Hz]
        LIDAR[2D LiDAR<br/>360pts @ 10Hz]
        DRIVE[Diff Drive<br/>cmd_vel / odom]
    end

    CAM --> |/camera/rgb/image_raw| T[ROS2]
    DEPTH --> |/depth/image| T
    IMU_S --> |/imu| T
    LIDAR --> |/lidar/scan| T
    DRIVE --> |/odom| T

    style ROBOT fill:#050505,color:#FF3B00,stroke:#FF3B00
    style T fill:#1A1A1A,color:#f3f3f3,stroke:#FF3B00

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Topic	Type	Rate
/camera/rgb/image_raw	Image	15 Hz
/camera/rgb/image_raw/compressed	CompressedImage	~5 Hz
/depth/image	Image	10 Hz
/imu	Imu	100 Hz
/lidar/scan	LaserScan	10 Hz
/odom	Odometry	20 Hz
/joint_states	JointState	~500 Hz
/cmd_vel	Twist	subscriber

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TRON1 Biped

LimX Dynamics TRON1 biped robot included (URDF + STL meshes):

• 3 variants: Point-Foot, Wheel-Foot, Sole-Foot
• 12 DOF (6 per leg)
• Shenzhen-built hardware partner

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Control

# Drive forward
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
  "{linear: {x: 0.5}, angular: {z: 0.0}}" --rate 10

# Turn
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
  "{linear: {x: 0.2}, angular: {z: 0.5}}" --rate 10

# Stop
ros2 topic pub /cmd_vel geometry_msgs/msg/Twist \
  "{linear: {x: 0.0}, angular: {z: 0.0}}" --once

Or use the ANIMA ROS2 Bridge:

anima-bridge discover --transport rosbridge --url ws://localhost:9090
anima-bridge publish /cmd_vel geometry_msgs/msg/Twist '{"linear":{"x":0.5}}' \
  --transport rosbridge --url ws://localhost:9090

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Architecture

graph TD
    subgraph DOCKER["Docker: anima_ros2_sim_net"]
        subgraph SIM["anima_ros2_gazebo (single container)"]
            GZ[Gazebo Harmonic<br/>headless]
            BR[ros_gz_bridge<br/>10 topic mappings]
            COMP[Image Compressor<br/>3 cameras x JPEG]
            RB[Rosbridge WebSocket<br/>Port 9090]
        end
        VW[anima_ros2_viewer<br/>Web dashboard<br/>Port 8080]
    end

    GZ -->|Gazebo Transport| BR
    BR -->|ROS2 DDS| COMP
    COMP -->|ROS2 DDS| RB
    RB -->|WebSocket| VW
    RB -->|WebSocket| EXT[External: ANIMA Bridge / CLI / AI Agents]

    style DOCKER fill:#050505,color:#f3f3f3,stroke:#FF3B00
    style SIM fill:#1A1A1A,color:#FF3B00,stroke:#FF3B00
    style GZ fill:#050505,color:#FF3B00
    style BR fill:#050505,color:#FF3B00
    style COMP fill:#050505,color:#FF3B00
    style RB fill:#050505,color:#FF3B00
    style VW fill:#FF3B00,color:#050505

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Why single container? Gazebo Transport uses local IPC (shared memory). The gz bridge must run in the same process space as Gazebo for sensor data to flow.

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Commands

make build      # Build simulation image
make sim        # Start simulation
make stop       # Stop simulation
make restart    # Restart
make logs       # Follow logs
make status     # Container status
make shell      # Shell into gazebo container
make clean      # Remove everything

GPU: docker compose -f docker-compose.yml -f docker-compose.gpu.yml up -d

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Part of ANIMA

Autonomous Neural Intelligence for Machine Awareness

• ANIMA ROS2 Bridge — AI agent ↔ ROS2 bridge
• RobotFlowLabs — Website

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Built with AI agents. Powered by ROS2 + Gazebo. Made for robots. Copyright (c) 2026 AIFLOW LABS LIMITED / RobotFlowLabs. All rights reserved.