ROS + Ignition Gazebo

This package contains things that make it convenient to integrate ROS with Ignition, such as:

• Launch files
• ROS-enabled executables

Usage

More usage examples can be seen on the ros_ign_gazebo_demos package.

Run Ignition Gazebo

There's a convenient launch file, try for example:

roslaunch ros_ign_gazebo ign_gazebo.launch ign_args:="shapes.sdf"

And you can directly call the executable, for example:

roscore
rosrun ros_ign_gazebo ign_gazebo shapes.sdf

Spawn entities

The create executable can be used to spawn SDF or URDF entities from:

• A file on disk or from Ignition Fuel
• A ROS parameter

For example, start Ignition Gazebo:

ign gazebo

And a ROS core:

roscore

Then spawn a model:

rosrun ros_ign_gazebo create -world default -file 'https://fuel.ignitionrobotics.org/1.0/openrobotics/models/Gazebo'

See more options with:

rosrun ros_ign_gazebo create --helpshort

Changelog for package ros_ign_gazebo

0.9.5 (2021-03-30)

0.9.4 (2020-12-10)

• Add dome + melodic to CI (#126) Co-authored-by: Nate Koenig <nate@openrobotics.org> Co-authored-by: Louise Poubel <louise@openrobotics.org>
• Choose collection based on environment variable (#72)
  • Choose collection based on the environment variable IGNITION_VERSION
• Contributors: Louise Poubel, Nate Koenig

0.9.2 (2020-05-14)

• Merge pull request #77 from ignitionrobotics/j-rivero-patch-2 Change ignition-gazebo2 from exec_depend to build_depend in ros_ign_gazebo
• Change ignition-gazebo2 from exec_depend to build_depend in ros_ign_gazebo
• Contributors: Jose Luis Rivero

0.9.1 (2020-05-13)

• Merge pull request #71 from ignitionrobotics/0_9_0gazebo2_fix Fix gazebo version in package.xml files
• Contributors: Nate Koenig

0.9.0 (2020-05-13)

• ros_ign_gazebo package, with launch and spawn (#60)
  • create ros_ign_gazebo package and move ign_gazebo exec and launch files there
  • Port create executable from create branch - ROS interface to spawn entities
  • use correct gflags key
  • PR feedback
• Contributors: chapulina