These three steps will run Gazebo with a default world.
Open a terminal. On most Ubuntu systems you can press
Start Gazebo by entering the following at the command prompt.
Note: The first time you launch gazebo, it will try to download a couple of models so this process may take some time.
Let's simulate something a bit more interesting by loading a world with a pioneer2dx.
Open a terminal and enter the following command.
Note: If you don't have the pioneer2dx model already, Gazebo will download it from the online model database which may take some time.
You may have noticed the mysterious
worlds/pioneer2dx.world argument in the above command. This instructs gazebo to find the
pioneer2dx.world file, and load it on start.
World files are located in a versioned system directory, for example
/usr/share/gazebo-7 on Ubuntu. If you have Gazebo 7.0 installed on Ubuntu, in a terminal type the following to see a complete list of worlds.
For a Gazebo 7.0 installation on OS X using Homebrew, type the following to see a complete list of worlds.
gazebo command actually runs two different executables for you. The
first is called
gzserver, and the second
gzserver executable runs the physics update-loop and sensor data
generation. This is the core of Gazebo, and can be used independently of a
graphical interface. You may see the phrase "run headless" thrown about.
This phrase equates to running only the
gzserver. An example
use case would involve running
gzserver on a cloud computer where a user
interface is not needed.
gzclient executable runs a QT based user
interface. This application provides a nice visualization of simulation, and
convenient controls over various simulation properties.
Try running each of these executables. Open a terminal and run the server:
Open another terminal and run the graphical client:
At this point you should see the Gazebo user interface. You restart the
gzclient application as often as you want, and even run multiple