ros_gz
Integration between ROS (1 and 2) and Gazebo simulation
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Download Latest Version (.zip)- build-and-test.sh
- ros2-ci.yml
- triage.yml
- CODEOWNERS
- video_img.png
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- ros_gz_bridge_generate_factories
- ros_gz_bridge_generate_tests
- ros_gz_bridge_markdown_table
- bridge_image_exchange.png
- actuator_msgs.hpp
- builtin_interfaces.hpp
- geometry_msgs.hpp
- gps_msgs.hpp
- marine_acoustic_msgs.hpp
- nav_msgs.hpp
- rcl_interfaces.hpp
- ros_gz_interfaces.hpp
- rosgraph_msgs.hpp
- sensor_msgs.hpp
- std_msgs.hpp
- tf2_msgs.hpp
- trajectory_msgs.hpp
- vision_msgs.hpp
- bridge_config.hpp
- convert.hpp
- convert_decl.hpp
- ros_gz_bridge.hpp
- clock_bridge.launch
- ros_gz_bridge.launch
- ros_gz_bridge.launch.py
- get_factory.cpp.em
- get_mappings.cpp.em
- pkg_factories.cpp.em
- pkg_factories.hpp.em
- ros_gz_bridge
- __init__.py
- ros_gz_bridge.py
- __init__.py
- mappings.py
- actuator_msgs.cpp
- builtin_interfaces.cpp
- geometry_msgs.cpp
- gps_msgs.cpp
- marine_acoustic_msgs.cpp
- nav_msgs.cpp
- rcl_interfaces.cpp
- rcl_interfaces_TEST.cpp
- ros_gz_interfaces.cpp
- ros_gz_interfaces_TEST.cpp
- rosgraph_msgs.cpp
- sensor_msgs.cpp
- sensor_msgs_TEST.cpp
- std_msgs.cpp
- tf2_msgs.cpp
- trajectory_msgs.cpp
- utils.cpp
- utils.hpp
- vision_msgs.cpp
- ros_gz_interfaces.cpp
- ros_gz_interfaces.hpp
- bridge_config.cpp
- bridge_handle.cpp
- bridge_handle.hpp
- bridge_handle_gz_to_ros.cpp
- bridge_handle_gz_to_ros.hpp
- bridge_handle_gz_to_ros_parameters.hpp
- bridge_handle_ros_to_gz.cpp
- bridge_handle_ros_to_gz.hpp
- bridge_types.cpp
- factory.hpp
- factory_interface.cpp
- factory_interface.hpp
- get_factory.hpp
- get_mappings.hpp
- parameter_bridge.cpp
- ros_gz_bridge.cpp
- service_factory.hpp
- service_factory_interface.cpp
- service_factory_interface.hpp
- static_bridge.cpp
- empty.yaml
- frame_id.yaml
- full.yaml
- invalid.yaml
- invalid_qos.yaml
- minimum.yaml
- qos.yaml
- test-config.yaml
- test_gz_server.launch.py
- test_gz_subscriber.launch.py
- test_launch_action.launch
- test_launch_action.launch.py
- test_launch_action_classic.launch
- test_launch_action_classic.launch.py
- test_ros_subscriber.launch.py
- gz_publisher.cpp.em
- gz_subscriber.cpp.em
- ros_pkg_subscriber.cpp.em
- ros_publisher.cpp.em
- gz_server.cpp
- ros_client.cpp
- ros_gz_interfaces_subscriber.cpp
- launch_action_subscriber.cpp
- ros_subscriber.cpp
- ros_subscriber.hpp
- gz_test_msg.cpp
- gz_test_msg.hpp
- ros_test_msg.cpp
- ros_test_msg.hpp
- test_utils.hpp
- bridge_config.cpp
- test_gid_filtering.cpp
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- setup.cfg
- image_bridge.cpp
- test_ros_subscriber.launch
- gz_publisher.cpp
- ros_subscriber.cpp
- AMENT_IGNORE
- ros_subscriber.test
- test_utils.h
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- AirSpeed.msg
- Altimeter.msg
- Contact.msg
- Contacts.msg
- Dataframe.msg
- Entity.msg
- EntityFactory.msg
- EntityWrench.msg
- Float32Array.msg
- GuiCamera.msg
- JointWrench.msg
- Light.msg
- LogicalCameraImage.msg
- LogicalCameraImageModel.msg
- LogPlaybackStatistics.msg
- MaterialColor.msg
- ParamVec.msg
- SensorNoise.msg
- StringVec.msg
- TrackVisual.msg
- VideoRecord.msg
- WorldControl.msg
- WorldReset.msg
- WorldStatistics.msg
- ControlWorld.srv
- DeleteEntity.srv
- SetEntityPose.srv
- SpawnEntity.srv
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- depth_camera.sdf
- gpu_lidar.sdf
- rgbd_camera.sdf
- point_cloud.cc
- point_cloud.hh
- CHANGELOG.rst
- CMakeLists.txt
- COLCON_IGNORE
- package.xml
- api.rst
- conf.py
- executables.rst
- launch_actions.rst
- overview.rst
- user_api.rst
- delete_entity.hpp
- gz_simulation_interfaces.hpp
- gzserver.hpp
- set_entity_pose.hpp
- spawn_entity.hpp
- Stopwatch.hpp
- gz_remove_model.launch.py
- gz_server.launch
- gz_server.launch.py
- gz_sim.launch.py.in
- gz_spawn_model.launch
- gz_spawn_model.launch.py
- ros_gz_sim.launch
- ros_gz_sim.launch.py
- ros_gz_spawn_model.launch
- ros_gz_spawn_model.launch.py
- ros_gz_sim
- __init__.py
- gz_spawn_model.py
- gzserver.py
- __init__.py
- simulate_steps.cpp
- simulate_steps.hpp
- delete_entity.cpp
- delete_entity.hpp
- get_entities.cpp
- get_entities.hpp
- get_entities_states.cpp
- get_entities_states.hpp
- get_entity_info.cpp
- get_entity_info.hpp
- get_entity_state.cpp
- get_entity_state.hpp
- get_simulation_state.cpp
- get_simulation_state.hpp
- get_simulator_features.cpp
- get_simulator_features.hpp
- reset_simulation.cpp
- reset_simulation.hpp
- set_entity_state.cpp
- set_entity_state.hpp
- set_simulation_state.cpp
- set_simulation_state.hpp
- spawn_entity.cpp
- spawn_entity.hpp
- step_simulation.cpp
- step_simulation.hpp
- gazebo_proxy.cpp
- gazebo_proxy.hpp
- gz_entity_filters.cpp
- gz_entity_filters.hpp
- gz_simulation_interfaces.cpp
- handler_base.hpp
- utils.cpp
- utils.hpp
- create.cpp
- delete_entity.cpp
- gzserver.cpp
- remove.cpp
- set_entity_pose.cpp
- spawn_entity.cpp
- Stopwatch.cpp
- gz_simulation_interfaces.sdf
- test_create.cpp
- test_create_node.launch.py
- test_delete_entity.cpp
- test_gz_simulation_interfaces.launch.py
- test_remove.cpp
- test_remove_node.launch.py
- test_set_entity_pose.cpp
- test_spawn_entity.cpp
- test_stopwatch.cpp
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- rosdoc2.yaml
- setup.cfg
- air_pressure.yaml
- battery.yaml
- camera.yaml
- diff_drive.yaml
- gpu_lidar.yaml
- imu.yaml
- magnetometer.yaml
- navsat.yaml
- navsat_gpsfix.yaml
- rgbd_camera_bridge.yaml
- tf_bridge.yaml
- triggered_camera.yaml
- ros_gz_sim_demos.dsv.in
- air_pressure_demo.png
- battery_demo.png
- camera_demo.png
- depth_camera_demo.png
- diff_drive_demo.png
- gpu_lidar_demo.png
- imu_demo.png
- joint_states.png
- magnetometer_demo.png
- navsat_demo.png
- rgbd_camera_demo.png
- robot_state_publisher_demo.png
- shapes_demo.png
- tf_bridge.gif
- air_pressure.launch.xml
- battery.launch.py
- camera.launch.xml
- depth_camera.launch.py
- diff_drive.launch.xml
- dvl.launch.py
- gpu_lidar.launch.py
- gpu_lidar_bridge.launch.xml
- image_bridge.launch.py
- imu.launch.xml
- joint_states.launch.py
- magnetometer.launch.xml
- navsat.launch.xml
- navsat_gpsfix.launch.xml
- rgbd_camera.launch.py
- rgbd_camera_bridge.launch.xml
- robot_description_publisher.launch.py
- sdf_parser.launch.py
- tf_bridge.launch.xml
- triggered_camera.launch.xml
- cardboard_box.png
- cardboard_box.dae
- 1.png
- 2.png
- 3.png
- 4.png
- 5.png
- model.config
- model.sdf
- model.config
- model.sdf
- double_pendulum_model.sdf
- rrbot.xacro
- delete_entity.gif
- set_entity.gif
- spawn.gif
- camera.rviz
- depth_camera.rviz
- diff_drive.rviz
- gpu_lidar.rviz
- gpu_lidar_bridge.rviz
- imu.rviz
- joint_states.rviz
- rgbd_camera.rviz
- rgbd_camera_bridge.rviz
- robot_description_publisher.rviz
- tf_bridge.rviz
- vehicle.rviz
- default.sdf
- dvl.sdf
- vehicle.sdf
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- README.md
- test_ros_gz_bridge.cpp
- CHANGELOG.rst
- CMakeLists.txt
- package.xml
- .codespell_ignore_words
- pyproject.toml
- .gitignore
- .pre-commit-config.yaml
- CONTRIBUTING.md
- LICENSE
- README.md
- RELEASING.md
# Installation Guide
1. Get the code
git clone https://github.com/gazebosim/ros_gz
Downloads the entire project code from GitHub to your computer.
cd ros_gz
Moves into the project folder you just downloaded.
2. Official Install Script
Easy RecommendedPrerequisites
- APT (Debian/Ubuntu ๊ณ์ด) Built into Debian/Ubuntu-based Linux distributions.
sudo apt install ros-rolling-ros-gz
Installs directly from the APT package repository (Debian/Ubuntu-based).
After installing, open a new terminal and run the program's version command (e.g. --version) to confirm it worked.
Pulled directly from this repo's README.
3. CMake
MediumPrerequisites
cd ros_gz
This project's files live in a subfolder, so move into it first.
mkdir build && cd build
Creates a folder to hold the build output and moves into it.
cmake ..
Analyzes the source code and generates build configuration files (must be run inside the build folder).
make
Compiles the code based on the generated build configuration to produce an executable.
Check that an executable was created inside the build folder, then run it directly (e.g. ./build/app_name).
4. Python
EasyPrerequisites
pip install .
Installs the package published on PyPI directly โ no need to clone the source.
python <์คํํ ํ์ผ๋ช
>.py # README์์ ์ ํํ ์คํ ํ์ผ๋ช
์ ํ์ธํ์ธ์
Runs the Python script (or module).
If it runs without errors and prints output in the terminal, it worked.
// repository documentation
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