|
Package Summary
Tags | No category tags. |
Version | 0.244.14 |
License | Apache 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/gazebosim/ros_gz.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-04-16 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Alejandro Hernandez
Authors
- Alejandro Hernandez
ROS + Gazebo Sim
This package contains things that make it convenient to integrate ROS with Gazebo, such as:
- Launch files
- ROS-enabled executables
Run Gazebo Sim
There's a convenient launch file, try for example:
ros2 launch ros_gz_sim gz_sim.launch.py gz_args:="shapes.sdf"
Spawn entities
The create
executable can be used to spawn SDF or URDF entities from:
- A file on disk or from Gazebo Fuel
- A ROS parameter
For example, start Gazebo Sim:
ros2 launch ros_gz_sim gz_sim.launch.py
then spawn a model:
ros2 run ros_gz_sim create -world default -file 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo'
See more options with:
ros2 run ros_gz_sim create --helpshort
Using <gazebo_ros>
to export model paths in package.xml
The <gazebo_ros>
tag inside the <export>
tag of a package.xml
file can be
used to add paths to GZ_SIM_RESOURCE_PATH
and GZ_SIM_SYSTEM_PLUGIN_PATH
,
which are environment variables used to configure Gazebo search paths for
resources (e.g. SDFormat files, meshes, etc) and plugins respectively.
The values in the attributes gazebo_model_path
and gazebo_media_path
are
appended to GZ_SIM_RESOURCE_PATH
. The value of plugin_path
is appended to
GZ_SIM_SYSTEM_PLUGIN_PATH
. See the
Finding resources tutorial to
learn more about these environment variables.
The keyword ${prefix}
can be used when setting these values and it will be
expanded to the package's share path (i.e., the value of
ros2 pkg prefix --share <package name>
)
<export>
<gazebo_ros gazebo_model_path="${prefix}/models"/>
<gazebo_ros gazebo_media_path="${prefix}/media"/>
<gazebo_ros plugin_path="${prefix}/plugins"/>
</export>
Thus the required directory needs to be installed from CMakeLists.txt
install(DIRECTORY models
DESTINATION share/${PROJECT_NAME})
In order to reference the models in a ROS package unambiguously, it is
recommended to set the value of gazebo_model_path
to be the parent
of the prefix
.
<export>
<gazebo_ros gazebo_model_path="${prefix}/../"/>
</export>
Consider an example where we have a ROS package called my_awesome_pkg
and it contains an SDFormat model cool cool_robot
:
my_awesome_pkg
├── models
│ └── cool_robot
│ ├── model.config
│ └── model.sdf
└── package.xml
With gazebo_model_path="${prefix}/../
set up, we can
reference the cool_robot
model in a world file using the package name
in the uri
:
<sdf version="1.6">
<world name="default">
<include>
<uri>package://my_awesome_pkg/models/cool_robot</uri>
</include>
</world>
</sdf>
However, if we set gazebo_model_path=${prefix}/models
, we would
need to reference cool_robot
as package://cool_robot
, which
might have a name conflict with other models in the system.
Changelog for package ros_gz_sim
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${prefix}/models"/> <gazebo_ros gazebo_media_path="${prefix}/models"/> </export>
[ The value of `gazebo_model_path]{.title-ref} and [gazebo_media_path]{.title-ref} is appended to [GZ_SIM_RESOURCE_PATH]{.title-ref} The value of [plugin_path]{.title-ref} appended to [GZ_SIM_SYSTEM_PLUGIN_PATH]{.title-ref} --------- - Contributors: Addisu Z. Taddese
0.244.13 (2024-01-23)
0.244.12 (2023-12-13)
- Add support for Harmonic/Humble pairing (#462)
- Set on_exit_shutdown argument for gz-sim ExecuteProcess (#355) (#451)
- Contributors: Addisu Z. Taddese, Michael Carroll
0.244.11 (2023-05-23)
0.244.10 (2023-05-03)
0.244.9 (2022-11-03)
- Export ROS Stopwatch library (#299) (#322) New Stopwatch library needs to be exported and built as shared Co-authored-by: Michael Anderson <anderson@mbari.org>
- Contributors: Michael Carroll
0.244.8 (2022-10-28)
0.244.7 (2022-10-12)
- Fix launch substitutions for ign_args
(#309)
- Fix launch substitutions for ign_args
- Merge pull request #275 (Galactic to Humble) Galactic to Humble
- Merge branch \'ros2\' into ports/galactic_to_ros2
- Contributors: Michael Carroll
0.244.6 (2022-09-14)
0.244.5 (2022-09-12)
- Fix missing msgs include and packages.xml deps
(#292)
- Fix missing msgs include and packages.xml deps
- Add additional conditions to support gz sim invocation
- Fix cpplint
- Support ros_ign migration (#282) Clean up shared libraries, and tick-tock RosGzPointCloud Tick-tock launch args Hard-tock ign_ in sources Migrate ign, ign_, IGN_ for sources, launch, and test files Migrate IGN_XXX_VER, IGN_T, header guards Migrate launchfile, launchfile args, and test source references Migrate ros_ign_XXX and gz_gazebo -> gz_sim Migrate ros_ign_XXX project names Migrate Ign, ign-, IGN_DEPS, ign-gazebo Migrate ignitionrobotics, ignitionrobotics/ros_ign, osrf/ros_ign Migrate ignition-version, IGNITION_VERSION, Ignition <LIB>, ros_ign_ci
- Move packages and files to gz (#282)
- Contributors: methylDragon
0.244.3 (2022-05-19)
- [ros2] README updates (service bridge, Gazebo rename) (#252)
- Fix linter tests (#251) Co-authored-by: Louise Poubel <louise@openrobotics.org>
- Contributors: Daisuke Nishimatsu, Louise Poubel
0.244.2 (2022-04-25)
- Support bridging services (#211)
- Add std_msgs as dependency of ros_gz_sim (#242)
- Fixed ros_gz_sim launch file install directory (#229) (#230)
- Added ign_version launch argument to set ignition gazebo version (#226)
- Bring ros2 branch up-to-date with Rolling (#213)
- create.cpp usage message fixed for ros2 branch (#207)
- Separate galactic branch from ros2 branch (#201)
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
1 | ament_index_python | |
1 | rclcpp | |
2 | std_msgs | |
0 | gz-msgs10 | |
0 | gz-sim8 | |
0 | gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.244.14 |
License | Apache 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/gazebosim/ros_gz.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-04-16 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Alejandro Hernandez
Authors
- Alejandro Hernandez
ROS + Gazebo Sim
This package contains things that make it convenient to integrate ROS with Gazebo, such as:
- Launch files
- ROS-enabled executables
Run Gazebo Sim
There's a convenient launch file, try for example:
ros2 launch ros_gz_sim gz_sim.launch.py gz_args:="shapes.sdf"
Spawn entities
The create
executable can be used to spawn SDF or URDF entities from:
- A file on disk or from Gazebo Fuel
- A ROS parameter
For example, start Gazebo Sim:
ros2 launch ros_gz_sim gz_sim.launch.py
then spawn a model:
ros2 run ros_gz_sim create -world default -file 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo'
See more options with:
ros2 run ros_gz_sim create --helpshort
Using <gazebo_ros>
to export model paths in package.xml
The <gazebo_ros>
tag inside the <export>
tag of a package.xml
file can be
used to add paths to GZ_SIM_RESOURCE_PATH
and GZ_SIM_SYSTEM_PLUGIN_PATH
,
which are environment variables used to configure Gazebo search paths for
resources (e.g. SDFormat files, meshes, etc) and plugins respectively.
The values in the attributes gazebo_model_path
and gazebo_media_path
are
appended to GZ_SIM_RESOURCE_PATH
. The value of plugin_path
is appended to
GZ_SIM_SYSTEM_PLUGIN_PATH
. See the
Finding resources tutorial to
learn more about these environment variables.
The keyword ${prefix}
can be used when setting these values and it will be
expanded to the package's share path (i.e., the value of
ros2 pkg prefix --share <package name>
)
<export>
<gazebo_ros gazebo_model_path="${prefix}/models"/>
<gazebo_ros gazebo_media_path="${prefix}/media"/>
<gazebo_ros plugin_path="${prefix}/plugins"/>
</export>
Thus the required directory needs to be installed from CMakeLists.txt
install(DIRECTORY models
DESTINATION share/${PROJECT_NAME})
In order to reference the models in a ROS package unambiguously, it is
recommended to set the value of gazebo_model_path
to be the parent
of the prefix
.
<export>
<gazebo_ros gazebo_model_path="${prefix}/../"/>
</export>
Consider an example where we have a ROS package called my_awesome_pkg
and it contains an SDFormat model cool cool_robot
:
my_awesome_pkg
├── models
│ └── cool_robot
│ ├── model.config
│ └── model.sdf
└── package.xml
With gazebo_model_path="${prefix}/../
set up, we can
reference the cool_robot
model in a world file using the package name
in the uri
:
<sdf version="1.6">
<world name="default">
<include>
<uri>package://my_awesome_pkg/models/cool_robot</uri>
</include>
</world>
</sdf>
However, if we set gazebo_model_path=${prefix}/models
, we would
need to reference cool_robot
as package://cool_robot
, which
might have a name conflict with other models in the system.
Changelog for package ros_gz_sim
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${prefix}/models"/> <gazebo_ros gazebo_media_path="${prefix}/models"/> </export>
[ The value of `gazebo_model_path]{.title-ref} and [gazebo_media_path]{.title-ref} is appended to [GZ_SIM_RESOURCE_PATH]{.title-ref} The value of [plugin_path]{.title-ref} appended to [GZ_SIM_SYSTEM_PLUGIN_PATH]{.title-ref} --------- - Contributors: Addisu Z. Taddese
0.244.13 (2024-01-23)
0.244.12 (2023-12-13)
- Add support for Harmonic/Humble pairing (#462)
- Set on_exit_shutdown argument for gz-sim ExecuteProcess (#355) (#451)
- Contributors: Addisu Z. Taddese, Michael Carroll
0.244.11 (2023-05-23)
0.244.10 (2023-05-03)
0.244.9 (2022-11-03)
- Export ROS Stopwatch library (#299) (#322) New Stopwatch library needs to be exported and built as shared Co-authored-by: Michael Anderson <anderson@mbari.org>
- Contributors: Michael Carroll
0.244.8 (2022-10-28)
0.244.7 (2022-10-12)
- Fix launch substitutions for ign_args
(#309)
- Fix launch substitutions for ign_args
- Merge pull request #275 (Galactic to Humble) Galactic to Humble
- Merge branch \'ros2\' into ports/galactic_to_ros2
- Contributors: Michael Carroll
0.244.6 (2022-09-14)
0.244.5 (2022-09-12)
- Fix missing msgs include and packages.xml deps
(#292)
- Fix missing msgs include and packages.xml deps
- Add additional conditions to support gz sim invocation
- Fix cpplint
- Support ros_ign migration (#282) Clean up shared libraries, and tick-tock RosGzPointCloud Tick-tock launch args Hard-tock ign_ in sources Migrate ign, ign_, IGN_ for sources, launch, and test files Migrate IGN_XXX_VER, IGN_T, header guards Migrate launchfile, launchfile args, and test source references Migrate ros_ign_XXX and gz_gazebo -> gz_sim Migrate ros_ign_XXX project names Migrate Ign, ign-, IGN_DEPS, ign-gazebo Migrate ignitionrobotics, ignitionrobotics/ros_ign, osrf/ros_ign Migrate ignition-version, IGNITION_VERSION, Ignition <LIB>, ros_ign_ci
- Move packages and files to gz (#282)
- Contributors: methylDragon
0.244.3 (2022-05-19)
- [ros2] README updates (service bridge, Gazebo rename) (#252)
- Fix linter tests (#251) Co-authored-by: Louise Poubel <louise@openrobotics.org>
- Contributors: Daisuke Nishimatsu, Louise Poubel
0.244.2 (2022-04-25)
- Support bridging services (#211)
- Add std_msgs as dependency of ros_gz_sim (#242)
- Fixed ros_gz_sim launch file install directory (#229) (#230)
- Added ign_version launch argument to set ignition gazebo version (#226)
- Bring ros2 branch up-to-date with Rolling (#213)
- create.cpp usage message fixed for ros2 branch (#207)
- Separate galactic branch from ros2 branch (#201)
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
1 | ament_index_python | |
1 | rclcpp | |
2 | std_msgs | |
0 | gz-msgs10 | |
0 | gz-sim8 | |
0 | gz-transport13 |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
Package Summary
Tags | No category tags. |
Version | 0.244.14 |
License | Apache 2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/gazebosim/ros_gz.git |
VCS Type | git |
VCS Version | humble |
Last Updated | 2024-04-16 |
Dev Status | MAINTAINED |
CI status | No Continuous Integration |
Released | RELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Additional Links
Maintainers
- Alejandro Hernandez
Authors
- Alejandro Hernandez
ROS + Gazebo Sim
This package contains things that make it convenient to integrate ROS with Gazebo, such as:
- Launch files
- ROS-enabled executables
Run Gazebo Sim
There's a convenient launch file, try for example:
ros2 launch ros_gz_sim gz_sim.launch.py gz_args:="shapes.sdf"
Spawn entities
The create
executable can be used to spawn SDF or URDF entities from:
- A file on disk or from Gazebo Fuel
- A ROS parameter
For example, start Gazebo Sim:
ros2 launch ros_gz_sim gz_sim.launch.py
then spawn a model:
ros2 run ros_gz_sim create -world default -file 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo'
See more options with:
ros2 run ros_gz_sim create --helpshort
Using <gazebo_ros>
to export model paths in package.xml
The <gazebo_ros>
tag inside the <export>
tag of a package.xml
file can be
used to add paths to GZ_SIM_RESOURCE_PATH
and GZ_SIM_SYSTEM_PLUGIN_PATH
,
which are environment variables used to configure Gazebo search paths for
resources (e.g. SDFormat files, meshes, etc) and plugins respectively.
The values in the attributes gazebo_model_path
and gazebo_media_path
are
appended to GZ_SIM_RESOURCE_PATH
. The value of plugin_path
is appended to
GZ_SIM_SYSTEM_PLUGIN_PATH
. See the
Finding resources tutorial to
learn more about these environment variables.
The keyword ${prefix}
can be used when setting these values and it will be
expanded to the package's share path (i.e., the value of
ros2 pkg prefix --share <package name>
)
<export>
<gazebo_ros gazebo_model_path="${prefix}/models"/>
<gazebo_ros gazebo_media_path="${prefix}/media"/>
<gazebo_ros plugin_path="${prefix}/plugins"/>
</export>
Thus the required directory needs to be installed from CMakeLists.txt
install(DIRECTORY models
DESTINATION share/${PROJECT_NAME})
In order to reference the models in a ROS package unambiguously, it is
recommended to set the value of gazebo_model_path
to be the parent
of the prefix
.
<export>
<gazebo_ros gazebo_model_path="${prefix}/../"/>
</export>
Consider an example where we have a ROS package called my_awesome_pkg
and it contains an SDFormat model cool cool_robot
:
my_awesome_pkg
├── models
│ └── cool_robot
│ ├── model.config
│ └── model.sdf
└── package.xml
With gazebo_model_path="${prefix}/../
set up, we can
reference the cool_robot
model in a world file using the package name
in the uri
:
<sdf version="1.6">
<world name="default">
<include>
<uri>package://my_awesome_pkg/models/cool_robot</uri>
</include>
</world>
</sdf>
However, if we set gazebo_model_path=${prefix}/models
, we would
need to reference cool_robot
as package://cool_robot
, which
might have a name conflict with other models in the system.
Changelog for package ros_gz_sim
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${prefix}/models"/> <gazebo_ros gazebo_media_path="${prefix}/models"/> </export>
[ The value of `gazebo_model_path]{.title-ref} and [gazebo_media_path]{.title-ref} is appended to [GZ_SIM_RESOURCE_PATH]{.title-ref} The value of [plugin_path]{.title-ref} appended to [GZ_SIM_SYSTEM_PLUGIN_PATH]{.title-ref} --------- - Contributors: Addisu Z. Taddese
0.244.13 (2024-01-23)
0.244.12 (2023-12-13)
- Add support for Harmonic/Humble pairing (#462)
- Set on_exit_shutdown argument for gz-sim ExecuteProcess (#355) (#451)
- Contributors: Addisu Z. Taddese, Michael Carroll
0.244.11 (2023-05-23)
0.244.10 (2023-05-03)
0.244.9 (2022-11-03)
- Export ROS Stopwatch library (#299) (#322) New Stopwatch library needs to be exported and built as shared Co-authored-by: Michael Anderson <anderson@mbari.org>
- Contributors: Michael Carroll
0.244.8 (2022-10-28)
0.244.7 (2022-10-12)
- Fix launch substitutions for ign_args
(#309)
- Fix launch substitutions for ign_args
- Merge pull request #275 (Galactic to Humble) Galactic to Humble
- Merge branch \'ros2\' into ports/galactic_to_ros2
- Contributors: Michael Carroll
0.244.6 (2022-09-14)
0.244.5 (2022-09-12)
- Fix missing msgs include and packages.xml deps
(#292)
- Fix missing msgs include and packages.xml deps
- Add additional conditions to support gz sim invocation
- Fix cpplint
- Support ros_ign migration (#282) Clean up shared libraries, and tick-tock RosGzPointCloud Tick-tock launch args Hard-tock ign_ in sources Migrate ign, ign_, IGN_ for sources, launch, and test files Migrate IGN_XXX_VER, IGN_T, header guards Migrate launchfile, launchfile args, and test source references Migrate ros_ign_XXX and gz_gazebo -> gz_sim Migrate ros_ign_XXX project names Migrate Ign, ign-, IGN_DEPS, ign-gazebo Migrate ignitionrobotics, ignitionrobotics/ros_ign, osrf/ros_ign Migrate ignition-version, IGNITION_VERSION, Ignition <LIB>, ros_ign_ci
- Move packages and files to gz (#282)
- Contributors: methylDragon
0.244.3 (2022-05-19)
- [ros2] README updates (service bridge, Gazebo rename) (#252)
- Fix linter tests (#251) Co-authored-by: Louise Poubel <louise@openrobotics.org>
- Contributors: Daisuke Nishimatsu, Louise Poubel
0.244.2 (2022-04-25)
- Support bridging services (#211)
- Add std_msgs as dependency of ros_gz_sim (#242)
- Fixed ros_gz_sim launch file install directory (#229) (#230)
- Added ign_version launch argument to set ignition gazebo version (#226)
- Bring ros2 branch up-to-date with Rolling (#213)
- create.cpp usage message fixed for ros2 branch (#207)
- Separate galactic branch from ros2 branch (#201)
Wiki Tutorials
Source Tutorials
Package Dependencies
Deps | Name | |
---|---|---|
1 | ament_cmake | |
1 | ament_lint_auto | |
1 | ament_lint_common | |
1 | ament_index_python | |
1 | rclcpp | |
2 | std_msgs | |
0 | gz-msgs10 | |
0 | gz-sim8 | |
0 | gz-transport13 |