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
• sensor_msgs/msg/PointCloud2, through the ros_gz_bridge or ros_gz_point_cloud

Using the bridge:

ros2 launch ros_gz_sim_demos gpu_lidar_bridge.launch.py

TODO: Blocked by ros_gz_point_cloud issue.

Using Gazebo Sim plugin:

ros2 launch ros_gz_sim_demos gpu_lidar.launch.py

IMU

Publishes IMU readings.

ros2 launch ros_gz_sim_demos imu.launch.py

TODO: IMU display missing for RViz2

Magnetometer

Publishes magnetic field readings.

ros2 launch ros_gz_sim_demos magnetometer.launch.py

GNSS

Publishes satellite navigation readings, only available in Fortress on.

ros2 launch ros_gz_sim_demos navsat.launch.py

RGBD camera

RGBD 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_bridge or ros_gz_point_cloud

Using the image bridge (unidirectional, uses image_transport):

# RGB image
ros2 launch ros_gz_sim_demos image_bridge.launch.py image_topic:=/rgbd_camera/image
# Depth image
ros2 launch ros_gz_sim_demos image_bridge.launch.py image_topic:=/rgbd_camera/depth_image

Using the regular bridge:

ros2 launch ros_gz_sim_demos rgbd_camera_bridge.launch.py

TODO: Blocked by ros_gz_point_cloud issue.

Using Gazebo Sim plugin:

ros2 launch ros_gz_sim_demos rgbd_camera.launch.py

Battery

Get the current state of a battery.

ros2 launch ros_gz_sim_demos battery.launch.py

Then send a command so the vehicle moves and drains the battery

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

Robot description publisher

Leverage the robot description publisher to spawn a new urdf model in gazebo and show it in rviz2. To try the demo launch:

ros2 launch ros_gz_sim_demos robot_description_publisher.launch.py

Joint States Publisher

Publishes joint states of the robot.

To try the demo launch:

ros2 launch ros_gz_sim_demos joint_states.launch.py

Bridging joint state and pose publishers

The launch file demonstrates bridging Gazebo poses to TFMessage to visualize the pose and transforms of a robot in rviz.

To try the demo launch:

ros2 launch ros_gz_sim_demos tf_bridge.launch.py

Changelog for package ros1_gz_sim_demos

2.1.1 (2024-10-14)

2.1.0 (2024-09-12)

2.0.1 (2024-08-29)

2.0.0 (2024-07-22)

1.0.1 (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
• Contributors: Addisu Z. Taddese, Aditya Pande, Alejandro Hernández Cordero, Clyde McQueen, Jose Luis Rivero, Michael Carroll, Rousseau Vincent, ahcorde

1.0.0 (2024-04-24)

• Use gz_vendor packages (#531)
• Remove deprecations using ros_gz_sim_create (#476)
• Contributors: Addisu Z. Taddese, Alejandro Hernández Cordero

0.246.0 (2023-08-31)

• Added more topic to the bridge (#422)
• Fix incorrect subscription on demo (#405) (#408) 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)
• Fixed ros_gz_sim_demos launch files (#319)
• Contributors: Aditya Pande, Alejandro Hernández Cordero, Clyde McQueen, Michael Carroll, Rousseau Vincent, ahcorde

0.245.0 (2022-10-12)

• 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
• Contributors: Alejandro Hernández Cordero, Michael Carroll, ahcorde

0.244.10 (2023-05-03)

0.244.9 (2022-11-03)

0.244.8 (2022-10-28)

• Fixed ros_gz_sim_demos launch files (#319) (#320)
• Contributors: Alejandro Hernández Cordero

0.244.7 (2022-10-12)

• 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)

• sdformat_urdf parser demo (#265)
  • parser compatible model and launch framework
  • added ground plane, common gz plugins, demo commands and cleaned install paths
  • unique collision names and cleared flake
  • updating model config
  • building parser from source
  • fix flake and update deb dependency for garden
  • Move packages and files to gz
  • feedback and ign->gz

  * Support ros_ign migration 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

  • renaming and flake
  • added ros commands
  • gz-version
  • feedback and ci trial

  * removing garden condition Co-authored-by: Michael Carroll <<michael@openrobotics.org>> Co-authored-by: methylDragon <<methylDragon@gmail.com>> Co-authored-by: Louise Poubel <<louise@openrobotics.org>>

• 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: Dharini Dutia, methylDragon

0.244.3 (2022-05-19)

• [ros2] README updates (service bridge, Gazebo rename) (#252)
• Fix linter tests (#251) Co-authored-by: Louise Poubel <<louise@openrobotics.org>>

• Joint state publisher and tf bridging demo (#244) * Added joint state publisher and tf bridge demo Co-authored-by: Louise Poubel <<louise@openrobotics.org>>

• Contributors: Aditya Pande, Daisuke Nishimatsu, Louise Poubel

0.244.2 (2022-04-25)

• Camera trigger demo (#223)
• Separate galactic branch from ros2 branch (#201)
• 🏁 Dome EOL (#198)
• Joint states tutorial (#156) Adds an rrbot model to demos and shows the usage of joint_states plugin.
• Contributors: Louise Poubel, Michael Carroll, Vatan Aksoy Tezer, William Lew

0.244.1 (2022-01-04)

0.244.0 (2021-12-30)

• Default to Fortress for Rolling (future Humble) (#195)
• [ros2] 🏁 Dome EOL (#199)
• Enable QoS overrides (#181)
• Contributors: Guillaume Doisy, Louise Poubel

0.233.2 (2021-07-20)

• [ros2] Add exec depend on xacro for demos (#170)
• [ros2] Update version docs, add Galactic and Fortress (#164)
• Joint states tutorial (#156) Adds an rrbot model to demos and shows the usage of joint_states plugin.
• Contributors: Louise Poubel, Vatan Aksoy Tezer

0.233.1 (2021-04-16)

• Default to Edifice for Rolling (#150)
• Minor updates for demos (#144)
  • Re-enable air pressure demo
  • Resolves https://github.com/gazebosim/ros_gz/issues/78
  • Add RQt topic viewer to IMU demo
  • Add image_topic argument for image_bridge demo
  • Do not normalize depth image in RViz2
• Edifice support (#140)
• Add topic flag to create robot (#128) Now it is possible to run ros_gz_sim create specifying a topic as source of the robot description Add a launch file starting a ignition gazebo world and spawn a sphere in it. Additionally a rviz2 interface is loaded to show that also Rviz can load the robot description The newly created demo introduce a dependency on the robot_state_publisher package
• [ros2] Update releases (#108)
• Contributors: Andrej Orsula, Louise Poubel, Valerio Magnago

0.221.1 (2020-08-19)

0.221.0 (2020-07-23)

• Updated launch file to use ros_gz_sim (#82) Co-authored-by: Louise Poubel <<louise@openrobotics.org>>
• Use new ros_gz_sim package on ROS 2 demos (#85) Co-authored-by: Alejandro Hernández Cordero <<ahcorde@gmail.com>>
• [WIP] Port ign_ros_gazebo_demos to ROS2 (#58) Port ros_gz_image to ROS2 Port ros_gz_sim_demos to ROS2
• Enable ROS2 CI for Dashing branch (#43)
• Make all API and comments ROS-version agnostic
• Rename packages and fix compilation + tests
• Move files ros1 -> ros
• Contributors: Alejandro Hernández Cordero, Jose Luis Rivero, Louise Poubel, chapulina

0.7.0 (2019-08-15)

0.6.3 (2019-08-04)

0.6.2 (2019-08-04)

0.6.1 (2019-08-04)

0.6.0 (2019-08-02)

• Image bridge using image_transport (#34)
  • Image bridge using image_transport
  • tests for image
  • correct metapackage

  * tests with catkin Signed-off-by: Louise Poubel <<louise@openrobotics.org>> * Revert changes from #32 Signed-off-by: Louise Poubel <<louise@openrobotics.org>>

• Revert "Pointcloud bridge demo for depth camera" This reverts commit 094cd40f21aed734d59c204172ad5afd7a26c8d6.
• Pointcloud bridge demo for depth camera
• Contributors: Louise Poubel, chapulina
• 0.5.0
• Battery state (#30)
• Packed demo (#29)
  • adding demo for point cloud packed bridge
  • correct rviz file
  • RGBD bridged cloud demo
• Merge pull request #28 from osrf/pointcloudpacked Bridge point cloud packed
• Contributors: Nate Koenig, chapulina
• Battery state (#30)
• Packed demo (#29)
  • adding demo for point cloud packed bridge
  • correct rviz file
  • RGBD bridged cloud demo
• Merge pull request #28 from osrf/pointcloudpacked Bridge point cloud packed
• Contributors: Nate Koenig, chapulina

0.4.0 (2019-07-16)

0.3.1 (2019-07-01)

• Merge pull request #24 from osrf/fix_dep ignition-gazebo2 needed at build time
• ignition-gazebo2 needed at build time
• Contributors: Jose Luis Rivero

0.3.0 (2019-06-28)

• 0.2.0
• Merge pull request #21 from osrf/lidar Point clouds from lidars
• Conversion between nav_msgs/Odometry and ignition::msgs::Odometry (#22)
  • Conversion between nav_msgs/Odometry and ignition::msgs::Odometry.
  • Update documentation.
  • More time to run tests
  • Cleaning test_utils.
  • Remove explicit ROS dependencies for Travis.
  • diff drive demo with cmd_vel and odom
  • process child frame id
• final tweaks
• PC2 for gpu_lidar, 1 vertical sample
• Start of lidar PC
• Fluid pressure (#20)
  • screenshots
  • missing IMU
  • Fluid pressure
  • Fix tests.
• Demos package (#19)
  • Start of demos package: camera
  • IMU
  • depth camera
  • magnetometer
  • lidar, base launch
  • READMEs, RGBD camera
  • screenshots
  • missing IMU
  • set plugin path env
  • It's best to always set it
• Contributors: Carlos Agüero, Nate Koenig, chapulina

0.2.2 (2019-05-20)

0.2.1 (2019-05-11)

0.2.0 (2019-05-09)

0.1.0 (2019-03-20)