Gazebo
Installing Gazebo
Installing Gazebo Classic
To install gazebo classic:
Sometimes gazebo has the wrong resource path and the correct one has to be added to the ~/.bashrc file.
Installing Gazebo Latest
To install the latest version of gazebo go to the official gazebo installation page and follow the instruction for the correct version of ROS.
Launching Gazebo Classic
To launch gazebo classic simply run gazebo:
If you want to launch gazebo with ROS2 you will have to use its launch file:
It can be trick to use a the gazebo launch file in another launch file but it can be done with the following code:
Using a robot in Gazebo Classic
To get robot to appear in a Gazebo world first launch gazebo like show previously. Then use the following commands to advertise the robot description and spawn it in gazebo.
Terminal:
# start gazebo
ros2 launch gazebo_ros gazebo.launch.py
# advertise the robot description
ros2 run robot_state_publisher robot_state_publisher --ros-args -p robot_description:="$(xacro /path/to/my_robot1.urdf.xacro)"
# spawn robot
ros2 run gazebo_ros spawn_entity.py -topic robot_description -entity my_robot1
<launch>
<let name="urdf_path" value="$(find-pkg-share my_robot1_description)/urdf/my_robot1.urdf.xacro"/>
<let name="rviz_config_path" value="$(find-pkg-share my_robot1_bringup)/rviz/urdf_config.rviz"/>
<node pkg="robot_state_publisher" exec="robot_state_publisher">
<param name="robot_description" value="$(command 'xacro $(var urdf_path)')"/>
</node>
<include file="$(find-pkg-share gazebo_ros)/launch/gazebo.launch.py">
<arg name="world" value="$(find-pkg-share my_robot1_bringup)/worlds/test_world.world.xml"/>
</include>
<node pkg="gazebo_ros" exec="spawn_entity.py" args="-topic robot_description -entity my_robot1"/>
<node pkg="rviz2" exec="rviz2" output="screen" args="-d $(var rviz_config_path)" />
</launch>
Building and Launching a World
To build a world in gazebo you can follow this tutorial Once the world is build and save it can be launch with the following command.
or or in an XML launch file