Prior to the arrive of our Stretch robot, we are interested in doing simulation work to test out some of the provided demos. We have done some digging into stretch_ros repo and saw that there is some support for urdf generation in the calibration package. Is there a way to work a simulation without the robot physically present with what is currently provided on the repo? Ideally I am looking to visualize the robot in Rviz or get some basic simulation in Gazebo working if that has been explored at all in the past.
I appreciate any insight on this topic.