ROS + Gazebo Sim demos

This package contains demos showing how to use Gazebo Sim with ROS.

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"

Air pressure

Publishes fluid pressure readings.

ros2 launch ros_gz_sim_demos air_pressure.launch.py

This demo also shows the use of custom QoS parameters. The sensor data is published as as “best-effort”, so trying to subscribe to “reliable” data won’t work. See the difference between:

ros2 topic echo /air_pressure --qos-reliability best_effort

And

ros2 topic echo /air_pressure --qos-reliability reliable

Camera

Publishes RGB camera image and info.

Images can be exposed to ROS through ros_gz_bridge or ros_gz_image.

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_gz_sim_demos image_bridge.launch.py

Using the regular bridge:

ros2 launch ros_gz_sim_demos camera.launch.py

To use a camera that only publishes information when triggered:

ros2 launch ros_gz_sim_demos triggered_camera.launch.py

Trigger the camera:

ros2 topic pub /camera/trigger std_msgs/msg/Bool "{data: true}" --once

Diff drive

Send commands to a differential drive vehicle and listen to its odometry.

ros2 launch ros_gz_sim_demos diff_drive.launch.py

Then unpause and send a command

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.5}}"

This demo also shows the use of custom QoS parameters. The commands are subscribed to as “reliable”, so trying to publish “best-effort” commands won’t work. See the difference between:

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.0}}" --qos-reliability reliable

And

ros2 topic pub /model/vehicle_blue/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 5.0}, angular: {z: 0.0}}" --qos-reliability best_effort

Depth camera

Depth camera data can be obtained as:

• sensor_msgs/msg/Image, through ros_gz_bridge or ros_gz_image
• sensor_msgs/msg/PointCloud2, through ros_gz_point_cloud

Using the image bridge (unidirectional, uses image_transport):

ros2 launch ros_gz_sim_demos image_bridge.launch.py image_topic:=/depth_camera

TODO: Blocked by ros_gz_point_cloud issue.

Using Gazebo Sim plugin:

ros2 launch ros_gz_sim_demos depth_camera.launch.py

GPU lidar

GPU lidar data can be obtained as:

• sensor_msgs/msg/LaserScan, through the ros_gz_bridge

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Changelog for package ros1_gz_sim_demos

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)
• 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)

1.0.8 (2025-01-14)

1.0.7 (2024-11-08)

1.0.6 (2024-10-31)

1.0.5 (2024-10-14)

1.0.4 (2024-08-29)

1.0.3 (2024-07-22)

1.0.2 (2024-07-03)

• Prepare for 1.0.0 Release (#495)
• Use gz_vendor packages (#531)
• [backport Humble] Create bridge for GPSFix msg (#316) (#538) Co-authored-by: Rousseau Vincent <<vincentrou@gmail.com>>
• [backport Iron] Create bridge for GPSFix msg (#316) (#537) Co-authored-by: Rousseau Vincent <<vincentrou@gmail.com>>
• 0.244.14
• Changelog
• 0.244.13
• Changelog
• Remove deprecations using ros_gz_sim_create (#476)
• 0.244.12
• Changelog
• 0.246.0
• Update changelogs
• Added more topic to the bridge (#422)
• Fix incorrect subscription on demo (#405) (#408) This PR fixes an incorrect subscription on one of the demos. Running ` ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.py[ causes rviz2 to crash and exit with the error: ]{.title-ref}rviz2-3] [rviz2-3] >>> [rcutils|error_handling.c:108] rcutils_set_error_state() [rviz2-3] This error state is being overwritten: [rviz2-3] [rviz2-3] 'create_subscription() called for existing topic name rt/lidar with incompatible type sensor_msgs::msg::dds\_::PointCloud2\_, at ./src/subscription.cpp:146, at ./src/rcl/subscription.c:108' [rviz2-3] [rviz2-3] with this new error message: [rviz2-3] [rviz2-3] 'invalid allocator, at ./src/rcl/subscription.c:218' [rviz2-3] [rviz2-3] rcutils_reset_error() should be called after error handling to avoid this.[ This is due to an incorrect subscription on the part of the demo. This PR fixes it by getting a subscription to the right topic for the pointcloud display. (`lidar/points]{.title-ref} instead of [lidar]{.title-ref}). Was tested on garden + humble. Co-authored-by: Arjo Chakravarty <<arjoc@intrinsic.ai>>
• Port: humble to ros2 (#386)
• Merge branch 'humble' into mjcarroll/humble_to_ros2
• Update maintainers (#376)
• Rename 'ign gazebo' to 'gz sim' (#343)
• Create bridge for GPSFix msg (#316)
• Humble ➡️ ROS2 (#323) Humble ➡️ ROS2
• Merge branch 'humble' into ports/humble_to_ros2
• Fixed ros_gz_sim_demos launch files (#319)
• 0.245.0
• Changelog
• humble to ros2 (#311) Co-authored-by: Michael Carroll <<michael@openrobotics.org>>
• Merge remote-tracking branch 'origin/humble' into ahcorde/humble_to_ros2
• Remove all ignition references on ROS 2 branch (#302)
  • Remove all shims
  • Update CMakeLists and package.xml for garden
  • Complete garden gz renaming
  • Drop fortress CI

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