ROS API
Beginning with C-Turtle (latest releases) distro, gazebo is started as a ROS node, offering the following ROS API interfaces.
Gazebo Subscribed Topics
gazebo/set_link_state (gazebo/LinkState)
- Sets the state (pose/twist) of a link.
- Sets the state (pose/twist) of a model.
Gazebo Published Parameters
/use_sim_time (Bool)
- Notifies ROS to use published /clock topic for ROS time.
Gazebo Published Topics
/clock (roslib/Clock)
- Publish simulation time, to be used with /use_sim_time parameter.
- Publishes states of all the links in simulation.
- Publishes states of all the models in simulation.
Gazebo Services
Services
Create and destroy models in simulation
These services allows user to spawn and destroy models in simulation- Use this service to spawn a urdf model.
- Use this service to spawn a model written in Gazebo XML model description.
- This service allows user to delete a model from simulation.
State and properties getters
These services allows user to retrieve state and property information about simulation and objects in simulation- This service returns the properties of a model in simulation.
- This service returns the states of a model in simulation.
- This service returns the properties of the simulation world.
- This service returns the properties of a joint in simulation.
- This service returns the properties of a link in simulation.
- This service returns the states of a link in simulation.
- This service returns the properties of the physics engine used in simulation.
State and properties setters
These services allows user to set state and property information about simulation and objects in simulation- This service sets the properties of a link in simulation.
- This service allows user to set properties of a link in simulation.
- This service allows user to set properties of a link in simulation.
- This service allows user to set properties of a link in simulation.
- This service allows user to set properties of a link in simulation.
Simulation control
These services allows user to pause and unpause physics in simulation- Pause physics updates.
- Resume physics updates.
Force control
These services allows user to apply wrenches and forces to bodies and joints in simulation- Apply wrench to a body in simulation.
- Apply effort to a joint in simulation.
- Clear applied efforts to a joint.
- Clear applied wrench to a body.
