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gazebo_ros_pkgs: gazebo_msgs | gazebo_plugins | gazebo_ros

Package Summary

Interface for using ROS with the Gazebo simulator.

gazebo_ros_pkgs: gazebo_msgs | gazebo_plugins | gazebo_ros

Package Summary

Interface for using ROS with the Gazebo simulator.

gazebo_ros_pkgs: gazebo_dev | gazebo_msgs | gazebo_plugins | gazebo_ros

Package Summary

Interface for using ROS with the Gazebo simulator.

gazebo_ros_pkgs: gazebo_dev | gazebo_msgs | gazebo_plugins | gazebo_ros

Package Summary

Interface for using ROS with the Gazebo simulator.

Overview

gazebo_ros_pkgs is a set of ROS packages that provide the necessary interfaces to simulate a robot in the Gazebo 3D rigid body simulator for robots. It integrates with ROS using ROS messages, services and dynamic reconfigure.

Some of the features of gazebo_ros_pkgs include:

  • Leverage existing standard ROS plugins for Gazebo
  • Improves out of the box support for controllers using ros_control
  • Many simulated sensors available and ready to work

Gazebo Simulator supported version

The major version (i.e 7.x series of gazebo7 for ROS Kinetic/Lunar) of gazebo present in ROS is selected at the beginning of the ROS release cycle and will be kept (due to binary compatibility reasons) during the whole life of the ROS distribution. }}}

ROS Indigo is using the gazebo-2.x series

ROS Jade is using the gazebo-5.x series

Some of the new features of Gazebo5 are:

A list of all the changes are available at the Gazebo 5.x changelog file.

A list of all the changes are available at the Gazebo 7.x changelog file.

ROS Melodic is using the gazebo-9.x series

Some of the new features of Gazebo9 are:

A list of all the changes are available at the Gazebo 9.x changelog file.

Migrating from previous ROS releases

Migrating from a previous version of ROS could require to adapt code in two different aspects:

  • Migrate Gazebo upstream code: since every version of ROS brings a new major version of Gazebo, some changes could be need to adapt Gazebo third party code, mostly plugins. Please read the Gazebo migration document for this purpose.

  • Migrate gazebo_ros_pkgs ROS related code: some ROS specific code could need to be upgraded when upgrading. The instructions are well covered in the Hydro Migration document

  • Migrate gazebo_ros_pkgs ROS related code: some ROS specific code could need to be upgraded when upgrading to Indigo. There are no specific instructions on this area.

  • Migrate gazebo_ros_pkgs ROS related code: some ROS specific code could need to be upgraded when upgrading. The instructions are well covered in the Jade Migration document

  • Migrate gazebo_ros_pkgs ROS related code: some ROS specific code could need to be upgraded when upgrading. The instructions are well covered in the Kinetic Migration document

  • Migrate gazebo_ros_pkgs ROS related code: the gazebo version used in Lunar is the same than in Kinetic and the Lunar code starts from a copy of Kinetic code so the code from Kinetic should be compatible with Lunar.

  • Migrate gazebo_ros_pkgs ROS related code: there are some disruptive changes in Melodic with respect to the gazebo_ros_pkgs version present in Lunar. Please proceed according.

Documentation and Support

Documentation

Support

Gazebo/ROS robot simulations ready to use

Different robots provide Gazebo Simulation support out of the box. Among others:

Wiki: gazebo_ros_pkgs (last edited 2018-06-14 17:58:26 by davetcoleman)