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Package Summary
Interface for using ROS with the Gazebo simulator.
- Maintainer status: developed
- Maintainer: Jose Luis Rivero <jrivero AT osrfoundation DOT org>
- Author: John Hsu, Nate Koenig, Dave Coleman
- License: BSD,LGPL,Apache 2.0
- External website: http://gazebosim.org/tutorials?cat=connect_ros
- Bug / feature tracker: https://github.com/ros-simulation/gazebo_ros_pkgs/issues
- Source: git https://github.com/ros-simulation/gazebo_ros_pkgs.git (branch: melodic-devel)
Contents
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.
Some of the features of gazebo_ros_pkgs include:
- Leverage existing standard ROS plugins for Gazebo
- Improves out of the box support for controllers using ros_control
Many simulated sensors available and ready to work
Gazebo Simulator supported version
The major version (i.e 7.x series of gazebo7 for ROS Kinetic/Lunar) 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 Melodic is using the gazebo-9.x series
Some of the new features of Gazebo9 are:
- Generalization of Actor animations
A list of all the changes are available at the Gazebo 9.x changelog file.
Migrating from previous ROS releases
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: there are some disruptive changes in Melodic with respect to the gazebo_ros_pkgs version present in Lunar. Please proceed according.
Documentation and Support
Documentation
Tutorials related to connect to Gazebo with ROS
Tutorials related to get started with the Gazebo Simulator
Tutorials related to how to write a plugin for the Gazebo simulator (non ROS code)
Support
Gazebo/ROS robot simulations ready to use
Different robots provide Gazebo Simulation support out of the box. Among others: