ROS Index
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 1.0.17 |
| 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 | jazzy |
| Last Updated | 2025-07-16 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Aditya Pande
- Alejandro Hernandez
Authors
- Addisu Taddese
- Carlos Agüero
- 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.gazebosim.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:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
1.0.17 (2025-07-16)
1.0.16 (2025-07-02)
1.0.15 (2025-06-12)
- OS agnostic 'which' command (#762)
- ros_gz_sim: Added support for passing initial_sim_time to Gazebo. (backport #756) (#759)
- Contributors: Griffin Tabor, mergify[bot]
1.0.14 (2025-05-26)
1.0.13 (2025-05-23)
1.0.12 (2025-05-06)
- Spawn, set pose and delete entities using ROS 2 (backport #705) (#733)
- Added codespell pre-commit hook. (#721) (#722)
- Add pre commit (#718) (#719)
- Contributors: mergify[bot]
1.0.11 (2025-03-21)
1.0.10 (2025-02-24)
1.0.9 (2025-02-12)
- Fix spelling in entity creation (#688) (#689) (cherry picked from commit 5e3b0730359a4f3f23cb26f6083ae5620b9a5ea1) Co-authored-by: Leander Stephen D'Souza <<leanderdsouza1234@gmail.com>>
- Contributors: mergify[bot]
1.0.8 (2025-01-14)
-
Shutdown explicitly while existing (#623) (#679) (cherry picked from commit 550ef7bd800c0dcc32ec7813168ef653ed169c89) Co-authored-by: ChenYing Kuo (CY) <<evshary@gmail.com>>
-
Merge pull request #670 from gazebosim/ahcorde/jazzy/bp/663 [backport Jazzy] Improve argument parsing in Actions (#663)
-
Fix linter errors
-
Improve argument parsing in Actions The [RosGzBridge]{.title-ref} and [GzServer]{.title-ref} now support different spellings for boolean arguments ([True]{.title-ref}, [true]{.title-ref}). This also simplifies how conditionals are used to create composable nodes by evaluating the conditionals and using them as regular Python booleans instead of relying on [PythonExpression]{.title-ref}. It was actually the [PythonExpression]{.title-ref} that was preventing support of boolean arguments spelled [true]{.title-ref}/[false]{.title-ref}.
-
Set env path (#659) (#661) (cherry picked from commit 0eae6ffbaabb514c9a80e6add1f49f16ade72a2c) Co-authored-by: Tatsuro Sakaguchi <<tacchan.mello.ioiq@gmail.com>>
-
Use member variables instead. (#653) (#655) (cherry picked from commit 5c1251a658ad8dd276664c2c88300d27572e25da) Co-authored-by: Carlos Agüero <<caguero@openrobotics.org>>
-
Move gzserver logic to its action (#646) (#649) (cherry picked from commit 6bbb9e405856e23f445f9f8fa87f27ccbff4d114) Co-authored-by: Carlos Agüero <<caguero@openrobotics.org>>
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| pkg-config |
| cli11 |
| libgflags-dev |
Dependant Packages
Launch files
- launch/gz_server.launch
-
- world_sdf_file [default: empty.sdf]
- world_sdf_string [default: ]
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- use_composition [default: False]
- launch/gz_spawn_model.launch
-
- world [default: ]
- file [default: ]
- model_string [default: ]
- topic [default: ]
- entity_name [default: ]
- allow_renaming [default: False]
- x [default: ]
- y [default: ]
- z [default: ]
- roll [default: ]
- pitch [default: ]
- yaw [default: ]
- launch/ros_gz_sim.launch
-
- bridge_name
- config_file
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- namespace [default: ]
- use_composition [default: False]
- use_respawn [default: False]
- log_level [default: info]
- bridge_params [default: ]
- world_sdf_file [default: empty.sdf]
- world_sdf_string [default: ]
- launch/ros_gz_spawn_model.launch
-
- bridge_name
- config_file
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- namespace [default: ]
- use_composition [default: False]
- use_respawn [default: False]
- log_level [default: info]
- bridge_params [default: ]
- world [default: ]
- file [default: ]
- model_string [default: ]
- topic [default: ]
- entity_name [default: ]
- allow_renaming [default: False]
- x [default: 0.0]
- y [default: 0.0]
- z [default: 0.0]
- roll [default: 0.0]
- pitch [default: 0.0]
- yaw [default: 0.0]
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 2.1.10 |
| 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 | kilted |
| Last Updated | 2025-07-15 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Aditya Pande
- Alejandro Hernandez
Authors
- Addisu Taddese
- Carlos Agüero
- 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.gazebosim.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:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
2.1.10 (2025-07-02)
2.1.9 (2025-06-12)
- OS agnostic 'which' command (#762) (#763)
- ros_gz_sim: Added support for passing initial_sim_time to Gazebo. (#756) (#758)
- Contributors: mergify[bot]
2.1.8 (2025-05-26)
- Fix debug_env (#747) (#748)
- Log environment variables with which gazebo was launched (#680) (#743)
- Contributors: mergify[bot]
2.1.7 (2025-05-06)
- Spawn, set pose and delete entities using ROS 2 (#705)
- use target_link_libraries instead of ament_target_dependencies (#730)
- Added codespell pre-commit hook. (#721)
- Add pre commit (#718)
- Contributors: Alejandro Hernández Cordero, Khaled Gabr, Leander Stephen D'Souza
2.1.6 (2025-03-21)
2.1.5 (2025-02-24)
2.1.4 (2025-02-12)
- Fix spelling in entity creation (#688)
- Use PIMPL pattern in gzserver (#683)
- Expose header for [GzServer]{.title-ref} (#681)
- Contributors: Addisu Z. Taddese, Leander Stephen D'Souza, Patrick Roncagliolo
2.1.3 (2025-01-14)
-
Shutdown explicitly while existing (#623)
-
Merge pull request #663 from azeey/improve_arg_parsing The [RosGzBridge]{.title-ref} and [GzServer]{.title-ref} now support different spellings for boolean arguments ([True]{.title-ref}, [true]{.title-ref}). This also simplifies how conditionals are used to create composable nodes by evaluating the conditionals and using them as regular Python booleans instead of relying on [PythonExpression]{.title-ref}. It was actually the [PythonExpression]{.title-ref} that was preventing support of boolean arguments spelled [true]{.title-ref}/[false]{.title-ref}.
-
Fix linter errors
-
Improve argument parsing in Actions The [RosGzBridge]{.title-ref} and [GzServer]{.title-ref} now support different spellings for boolean arguments ([True]{.title-ref}, [true]{.title-ref}). This also simplifies how conditionals are used to create composable nodes by evaluating the conditionals and using them as regular Python booleans instead of relying on [PythonExpression]{.title-ref}. It was actually the [PythonExpression]{.title-ref} that was preventing support of boolean arguments spelled [true]{.title-ref}/[false]{.title-ref}.
-
Set env path (#659)
-
Use member variables instead. (#653)
-
Move gzserver logic to its action (#646)
-
Add a way to pass extra parameters to ros_gz_bridge (#628)
* Add bridge_params argument to ros_gz_bridge Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> Co-authored-by: Wiktor Bajor <<69388767+Wiktor-99@users.noreply.github.com>>
-
Add remove entity node (#629)
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| pkg-config |
| cli11 |
| libgflags-dev |
Launch files
- launch/gz_server.launch
-
- world_sdf_file [default: empty.sdf]
- world_sdf_string [default: ]
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- use_composition [default: False]
- launch/gz_spawn_model.launch
-
- world [default: ]
- file [default: ]
- model_string [default: ]
- topic [default: ]
- entity_name [default: ]
- allow_renaming [default: False]
- x [default: ]
- y [default: ]
- z [default: ]
- roll [default: ]
- pitch [default: ]
- yaw [default: ]
- launch/ros_gz_sim.launch
-
- bridge_name
- config_file
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- namespace [default: ]
- use_composition [default: False]
- use_respawn [default: False]
- log_level [default: info]
- bridge_params [default: ]
- world_sdf_file [default: empty.sdf]
- world_sdf_string [default: ]
- launch/ros_gz_spawn_model.launch
-
- bridge_name
- config_file
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- namespace [default: ]
- use_composition [default: False]
- use_respawn [default: False]
- log_level [default: info]
- bridge_params [default: ]
- world [default: ]
- file [default: ]
- model_string [default: ]
- topic [default: ]
- entity_name [default: ]
- allow_renaming [default: False]
- x [default: 0.0]
- y [default: 0.0]
- z [default: 0.0]
- roll [default: 0.0]
- pitch [default: 0.0]
- yaw [default: 0.0]
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 3.0.3 |
| 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 | ros2 |
| Last Updated | 2025-07-15 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
Package Description
Additional Links
Maintainers
- Aditya Pande
- Alejandro Hernandez
Authors
- Addisu Taddese
- Carlos Agüero
- 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.gazebosim.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:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
3.0.3 (2025-07-02)
3.0.2 (2025-06-12)
- OS agnostic 'which' command (#762) (#765)
- ros_gz_sim: Added support for passing initial_sim_time to Gazebo. (#756)
- Contributors: Alejandro Hernandez Cordero, Martin Pecka, mergify[bot]
3.0.1 (2025-05-26)
- Fix debug_env (#747)
- Log environment variables with which gazebo was launched (#680)
- Contributors: Alejandro Hernández Cordero, Arjo Chakravarty
3.0.0 (2025-05-06)
- Spawn, set pose and delete entities using ROS 2 (#705)
- use target_link_libraries instead of ament_target_dependencies (#730)
- Added codespell pre-commit hook. (#721)
- Add pre commit (#718)
- Contributors: Alejandro Hernández Cordero, Khaled Gabr, Leander Stephen D'Souza
2.1.6 (2025-03-21)
2.1.5 (2025-02-24)
2.1.4 (2025-02-12)
- Fix spelling in entity creation (#688)
- Use PIMPL pattern in gzserver (#683)
- Expose header for [GzServer]{.title-ref} (#681)
- Contributors: Addisu Z. Taddese, Leander Stephen D'Souza, Patrick Roncagliolo
2.1.3 (2025-01-14)
-
Shutdown explicitly while existing (#623)
-
Merge pull request #663 from azeey/improve_arg_parsing The [RosGzBridge]{.title-ref} and [GzServer]{.title-ref} now support different spellings for boolean arguments ([True]{.title-ref}, [true]{.title-ref}). This also simplifies how conditionals are used to create composable nodes by evaluating the conditionals and using them as regular Python booleans instead of relying on [PythonExpression]{.title-ref}. It was actually the [PythonExpression]{.title-ref} that was preventing support of boolean arguments spelled [true]{.title-ref}/[false]{.title-ref}.
-
Fix linter errors
-
Improve argument parsing in Actions The [RosGzBridge]{.title-ref} and [GzServer]{.title-ref} now support different spellings for boolean arguments ([True]{.title-ref}, [true]{.title-ref}). This also simplifies how conditionals are used to create composable nodes by evaluating the conditionals and using them as regular Python booleans instead of relying on [PythonExpression]{.title-ref}. It was actually the [PythonExpression]{.title-ref} that was preventing support of boolean arguments spelled [true]{.title-ref}/[false]{.title-ref}.
-
Set env path (#659)
-
Use member variables instead. (#653)
-
Move gzserver logic to its action (#646)
-
Add a way to pass extra parameters to ros_gz_bridge (#628)
* Add bridge_params argument to ros_gz_bridge Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>> Co-authored-by: Wiktor Bajor <<69388767+Wiktor-99@users.noreply.github.com>>
-
Add remove entity node (#629)
-
Contributors: Aarav Gupta, Addisu Z. Taddese, Alejandro Hernández Cordero, Carlos Agüero, ChenYing Kuo (CY), Tatsuro Sakaguchi, Wiktor
File truncated at 100 lines see the full file
Package Dependencies
System Dependencies
| Name |
|---|
| pkg-config |
| cli11 |
| libgflags-dev |
Launch files
- launch/gz_server.launch
-
- world_sdf_file [default: empty.sdf]
- world_sdf_string [default: ]
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- use_composition [default: False]
- launch/gz_spawn_model.launch
-
- world [default: ]
- file [default: ]
- model_string [default: ]
- topic [default: ]
- entity_name [default: ]
- allow_renaming [default: False]
- x [default: ]
- y [default: ]
- z [default: ]
- roll [default: ]
- pitch [default: ]
- yaw [default: ]
- launch/ros_gz_sim.launch
-
- bridge_name
- config_file
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- namespace [default: ]
- use_composition [default: False]
- use_respawn [default: False]
- log_level [default: info]
- bridge_params [default: ]
- world_sdf_file [default: empty.sdf]
- world_sdf_string [default: ]
- launch/ros_gz_spawn_model.launch
-
- bridge_name
- config_file
- container_name [default: ros_gz_container]
- create_own_container [default: False]
- namespace [default: ]
- use_composition [default: False]
- use_respawn [default: False]
- log_level [default: info]
- bridge_params [default: ]
- world [default: ]
- file [default: ]
- model_string [default: ]
- topic [default: ]
- entity_name [default: ]
- allow_renaming [default: False]
- x [default: 0.0]
- y [default: 0.0]
- z [default: 0.0]
- roll [default: 0.0]
- pitch [default: 0.0]
- yaw [default: 0.0]
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.254.2 |
| 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 | iron |
| Last Updated | 2024-07-03 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.254.2 (2024-07-03)
- Merge pull request #564 from azeey/humble_to_iron Humble ➡️ Iron
- Merge humble -> iron
- 0.244.14
- Changelog
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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} --------- - 0.244.13
- Changelog
- 0.244.12
- Changelog
- Contributors: Addisu Z. Taddese, Alejandro Hernández Cordero
0.254.1 (2024-04-08)
0.254.0 (2024-01-08)
- Forward port: Add support for Harmonic/Humble pairing (#462)
- Contributors: Addisu Z. Taddese, Michael Carroll
0.247.0 (2023-11-02)
- set on_exit_shutdown argument for gz-sim ExecuteProcess (#355) (#452) Co-authored-by: andermi <<anderson@mbari.org>>
- Contributors: Michael Carroll
0.245.0 (2023-05-23)
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
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Dependant Packages
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |
System Dependencies
Launch files
Messages
Services
Plugins
Recent questions tagged ros_gz_sim at Robotics Stack Exchange
|
|
ros_gz_sim package from ros_gz reporos_gz ros_gz_bridge ros_gz_image ros_gz_interfaces ros_gz_point_cloud ros_gz_sim ros_gz_sim_demos ros_ign ros_ign_bridge ros_ign_gazebo ros_ign_gazebo_demos ros_ign_image ros_ign_interfaces test_ros_gz_bridge |
ROS Distro
|
Package Summary
| Tags | No category tags. |
| Version | 0.244.20 |
| 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 | 2025-06-12 |
| Dev Status | MAINTAINED |
| Released | RELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (-)
Good First Issues (-) Pull Requests to Review (-) |
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="${prefix}/../ set up, we can
reference the cool_robot model in a world file using the package name
in the uri:
File truncated at 100 lines see the full file
Changelog for package ros_gz_sim
0.244.20 (2025-06-12)
0.244.19 (2025-05-26)
0.244.18 (2025-05-23)
- Log environment variables with which gazebo was launched (backport #680) (#745)
- Contributors: mergify[bot]
0.244.17 (2025-05-06)
0.244.16 (2024-07-22)
0.244.15 (2024-07-03)
0.244.14 (2024-04-08)
- Support [<gazebo_ros>]{.title-ref} in [package.xml]{.title-ref}
exports (#492)
This copies the implementation from
[gazebo_ros_paths.py]{.title-ref} to provide a way for packages to
set resource paths from [package.xml]{.title-ref}.
` e.g. <export> <gazebo_ros gazebo_model_path="${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>,
File truncated at 100 lines see the full file
Package Dependencies
| Deps | Name |
|---|---|
| ament_cmake | |
| ament_lint_auto | |
| ament_lint_common | |
| ament_index_python | |
| rclcpp | |
| std_msgs | |
| gz-msgs10 | |
| gz-sim8 | |
| gz-transport13 |