We need to launch several terminals in order to launch the gazebo simulation with ROS 2.0 compatibility, there are two main steps:
First thing we will do is launching the simulation with ROS 2.0 compatibility. You can choose one of the following
ros2 launch depends on the gripper that you want to use:
source ~/ros2_mara_ws/install/setup.bash ros2 launch mara_bringup mara_bringup.launch.py ros2 launch mara_bringup mara_gripper_140.launch.py ros2 launch mara_bringup mara_gripper_85.launch.py ros2 launch mara_bringup mara_gripper_hande.launch.py
Finally we have the option to visualize the robot in RVIZ2.
source ~/ros2_mara_ws/install/setup.bash rviz2
Check this tutorial