Documentation Status

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gazebo_ros_pkgs: gazebo_msgs | gazebo_plugins | gazebo_ros

Package Summary

Released Continuous integration Documented

Interface for using ROS with the Gazebo simulator.

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New in Hydro: This set of packages replaces simulator_gazebo in ROS Hydro

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.

Among the primary differences from simulator_gazebo, gazebo_ros_pkgs now:

Some of the features of gazebo_ros_pkgs include:

  • Supports the latest stand alone system dependency of Gazebo, that has no ROS bindings on its own
  • Builds with catkin
  • Treats URDF and SDF as equally as possible
  • Reduces code duplication with Gazebo
  • Improves out of the box support for controllers using ros_control
  • Integrates real time controller efficiency improvements from the DARPA Robotics Challenge
  • Cleans up a lot of old code from previous versions of ROS and Gazebo

Gazebo Simulator supported version

The major version (i.e 5.x series of gazebo5 for ROS Jade) 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 Hydro is using the gazebo-1.x series

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.

Using unsupported versions of Gazebo and ROS

Although using the default Gazebo version selected for the ROS distribution is highly recommended, there are different ways of getting ROS support for different Gazebo versions. Please read Which combination of ROS/Gazebo versions to know more about the compatibility of ROS and Gazebo. Please remember that any bug related to the use of a different Gazebo version than the one provided by ROS should be reported into the Gazebo issue tracker.

Migration

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

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 2016-08-29 15:12:26 by DustinGooding)