simulator_gazebo: gazebo | gazebo_msgs | gazebo_plugins | gazebo_tests | gazebo_tools | gazebo_worlds
Package Links
Used by (70)
- Code API
- Msg/Srv API
- diamondback
- electric
- fuerte
- unstable - gazebo website
- Tutorials
- Troubleshooting
- FAQ
- Reviews (simulator_gazebo)
Used by (70)
Package Summary
This ROS package checks out and compiles a hand-picked stable mercurial revision of the gazebo-1.x.x/release candidate from the Gazebo Project. This package also provides some ROS plugins for working under the ROS environment. This package will update to newer gazebo-1.x.x releases of Gazebo incrementally as new revisions are made stable. If you are a developer and would like to contribute to the Gazebo simulator project directly, please visit Kforge Gazebo Project page and ask to join the project.
- Author: Nate Koenig, Andrew Howard, with contributions from many others. See web page for a full credits llist.
- License: Apache 2.0
- Repository: ros-pkg
- Source: svn https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/trunk/gazebo
External Documentation
This is a third party package with external documentation.
Useful Links
If you want to:
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.
Contents
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 model joint positions without invoking dynamics.
- 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. All active wrenches applied to the same body are cumulative.
- Apply effort to a joint in simulation. All active efforts applied to the same joint are cumulative.
- Clear applied efforts to a joint.
- Clear applied wrench to a body.
Contents
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 (rosgraph_msgs/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 model joint positions without invoking dynamics.
- 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. All active wrenches applied to the same body are cumulative.
- Apply effort to a joint in simulation. All active efforts applied to the same joint are cumulative.
- Clear applied efforts to a joint.
- Clear applied wrench to a body.