Users are highly discouraged from using the documentation and tutorials for Gazebo on this page. Gazebo is now a stand alone project at gazebosim.org. See documentation there, thanks!

Gazebo configuration setup for Box Turtle.

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Starting with C-Turtle, gazebo will no longer require environment variables: LD_LIBRARY_PATH, GAZEBO_MEDIA_PATH and OGRE_RESOURCE_PATH. We are switching to using pluginlib to setup the corresponding resource variables.

Ogre Resource Path

From C-Turtle and on, the gazebo binary automatically looks for ogre package path, so nothing needs to be specified by the user.

Gazebo Media Path

Gazebo automatically looks in subdirectory Media/* for resource files, e.g.:

  • Media/models - model mesh files

  • Media/materials/textures - ogre texture files

  • Media/materials/scripts - ogre material scripts

  • Media/materials/programs - ogre shading programs

As of C-Turtle release, any package that exports gazebo_media_path to gazebo, and has direct dependency on gazebo, i.e. manifest.xml contains these lines

 <depend package="gazebo"/>
 <export>
   <gazebo gazebo_media_path="${prefix}" />
 </export>

Then, the package's subdirectories Media/* will be automatically searched for gazebo materials, textures and meshes.

Gazebo Plugins Path

As of C-Turtle release, any package that exports plugin_path to gazebo, will be included in the search path for simulator plugins. For example gazebo_plugins exports the following gazebo tag with plugin_path attribute in its manifest:

  •   <export>
        <gazebo plugin_path="${prefix}/lib" />
      </export>

Gazebo resource setup for C-Turtle and later.

Starting with C-Turtle, gazebo will no longer require environment variables: LD_LIBRARY_PATH, GAZEBO_MEDIA_PATH and OGRE_RESOURCE_PATH. We are switching to using pluginlib to setup the corresponding resource variables.

Ogre Resource Path

Previous to C-Turtle release, you need to specify the path to ogre library files either by putting it in .gazeborc or specifying it in the environment variable OGRE_RESOURCE_PATH.

<?xml version="1.0"?>
<gazeborc>
  <ogrePath>/u/hsu/projects/cturtle_wg_all/stacks/visualization_common/ogre/ogre/lib/OGRE</ogrePath>
</gazeborc>

Gazebo Media Path

Gazebo automatically looks in subdirectory Media/* for resource files, e.g.:

  • Media/models - model mesh files

  • Media/materials/textures - ogre texture files

  • Media/materials/scripts - ogre material scripts

  • Media/materials/programs - ogre shading programs

Previous to C-Turtle release, you need to specify the path to Media directory either by putting it in ~/.gazeborc

<?xml version="1.0"?>
<gazeborc>
  <gazeboPath>/u/hsu/projects/cturtle_wg_all/stacks/simulator_gazebo/gazebo/gazebo/share/gazebo</gazeboPath>
</gazeborc>

or by specifying it in the environment variable GAZEBO_RESOURCE_PATH. For example:

  <param name="/use_sim_time" value="true" />
  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" output="screen">
    <env name="GAZEBO_RESOURCE_PATH" value="$(find your_package_containing_a_Media_directory)" />
  </node>

Gazebo Plugins Path

Previous to C-Turtle release, you have to specify the plugin library locations in environment variable LD_LIBRARY_PATH. For example, if the plugin library is located in gazebo_plugins/lib/libgazebo_ros_myplugin.so, you have to include the following env tag in your gazebo node launch script:

  <node name="gazebo" pkg="gazebo" type="gazebo" args="$(find gazebo_worlds)/worlds/empty.world" respawn="false" >
    <env name="LD_LIBRARY_PATH" value="$(find gazebo_plugins)/lib:$(optenv LD_LIBRARY_PATH)" />
  </node>

Wiki: simulator_gazebo/GazeboConfiguration (last edited 2015-05-07 01:13:10 by WilliamWoodall)