ROS 2 version | Gazebo version | Branch | Binaries hosted at – | – | – | – «««< HEAD Foxy | Citadel | foxy | https://packages.ros.org Foxy | Edifice | foxy | only from source ¹ Galactic | Edifice | galactic | https://packages.ros.org ¹ Galactic | Fortress | galactic | only from source =======

7f19b09 (Update README: remove EOLs and add Kilted (#766)) Humble | Fortress | humble | https://packages.ros.org Humble | Garden | humble | gazebo packages^{2 1} Humble | Harmonic | humble | gazebo packages² Jazzy | Garden | ros2 | only from source ¹ Jazzy | Harmonic | jazzy | https://packages.ros.org «««< HEAD Rolling | Fortress | humble | https://packages.ros.org ======= Kilted | Ionic | kilted | https://packages.ros.org 7f19b09 (Update README: remove EOLs and add Kilted (#766)) Rolling | Garden | ros2 | only from source ¹ Rolling | Harmonic | ros2 | only from source

For information on ROS 2 and Gazebo compatibility, refer to the melodic branch README

Details about the renaming process from ign to gz .

Note: The ros_ign prefixed packages are shim packages that redirect to their ros_gz counterpart. Under most circumstances you want to be using the ros_gz counterpart.

Integration between ROS and Gazebo

Packages

This repository holds packages that provide integration between ROS and Gazebo:

• ros_gz: Metapackage which provides all the other packages.
• ros_gz_image: Unidirectional transport bridge for images from Gazebo Transport to ROS using image_transport.
• ros_gz_bridge: Bidirectional transport bridge between Gazebo Transport and ROS.
• ros_gz_sim: Convenient launch files and executables for using Gazebo Sim with ROS.
• ros_gz_sim_demos: Demos using the ROS-Gazebo integration.
• ros_gz_point_cloud: Plugins for publishing point clouds to ROS from Gazebo Sim simulations.

Install

This branch supports ROS Humble. See above for other ROS versions.

Binaries

Humble binaries are available for Fortress. They are hosted at https://packages.ros.org.

1. Add https://packages.ros.org

    sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
    sudo apt-get update
   

2. Install ros_gz

    sudo apt install ros-humble-ros-gz
   

From source

ROS

Be sure you’ve installed ROS Humble (at least ROS-Base). More ROS dependencies will be installed below.

Gazebo

Install either Fortress, Harmonic or Ionic.

Set the GZ_VERSION environment variable to the Gazebo version you’d like to compile against. For example:

export GZ_VERSION=edifice # IMPORTANT: Replace with correct version

You only need to set this variable when compiling, not when running.

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