Tutorials

Welcome to the Ignition Gazebo tutorials. These tutorials will guide you through the process of understanding the capabilities of the Ignition Gazebo library and how to use the library effectively.

Tutorials

• Terminology: List of terms used across the documentation.
• Install instructions: Install instructions.
• Create System Plugins: Programmatically access simulation using C++ plugins.
• Rendering plugins: Write plugins that use Ignition Rendering on the server and client.
• Levels: Load entities on demand in large environments.
• Distributed Simulation: Spread simulation across several processes.
• Finding resources: The different ways in which Ignition looks for files.
• Entity creation: Insert models or lights using services.
• Logging: Record and play back time series of world state.
• Physics engines: Loading different physics engines.
• Light config: Configure lights in the scene.
• Battery: Keep track of battery charge on robot models.
• GUI configuration: Customizing your layout.
• Server configuration: Customizing what system plugins are loaded.
• Debugging: Information about debugging Gazebo.
• Converting a Point Cloud to a 3D Model: Turn point cloud data into 3D models for use in simulations.
• Importing a Mesh to Fuel: Build a model directory around a mesh so it can be added to the Ignition Fuel app.
• ERB Template: Use ERB, a templating language, to generate SDF files for simulation worlds.
• Detachable Joints: Creating models that start off rigidly attached and then get detached during simulation.
• Triggered Publisher: Using the TriggeredPublisher system to orchestrate actions in simulation.
• Logical Audio Sensor: Using the LogicalAudioSensor system to mimic logical audio emission and detection in simulation.
• Video Recorder: Record videos from the 3D render window.
• Collada World Exporter: Export an entire world to a single Collada mesh.
• Underwater Vehicles: Understand how to simulate underwater vehicles.
• Particle emitter: Using particle emitters in simulation
• Blender SDF Exporter: Use a blender script to export a model to the SDF format.
• Generation of Procedural Datasets with Blender: Use Blender with a Python script to generate procedural datasets of SDF models.
• Model and optimize meshes: Some recomendations when creating meshes in blender for simulations.
• Model Command: Use the CLI to get information about the models in a simulation.
• Test Fixture: Writing automated CI tests
• Model Photo Shoot Taking perspective, top, front, and side pictures of a model.
• Spherical coordinates: Working with latitude and longitude
• Python interfaces Python interfaces
• Headless rendering: Access the GPU on a remote machine to produce sensor data without an X server.
• Move Camera to model Move camera to model

Migration from Gazebo classic

• Plugins: Walk through the differences between writing plugins for Gazebo classic and Gazebo
• SDF: Migrating SDF files from Gazebo classic to Gazebo
• World API: Guide on what World C++ functions to call in Gazebo when migrating from Gazebo classic
• Model API: Guide on what Model C++ functions to call in Gazebo when migrating from Gazebo classic
• Light API: Guide on what Light C++ functions to call in Gazebo when migrating from Gazebo classic
• Joint API: Guide on what Joint C++ functions to call in Gazebo when migrating from Gazebo classic
• Actor API: Guide on what Actor C++ functions to call in Gazebo when migrating from Gazebo classic
• Link API: Guide on what Link C++ functions to call in Gazebo when migrating from Gazebo classic
• Sensor API: Guide on what Sensor C++ functions to call in Gazebo when migrating from Gazebo classic
• Case Study: Migrating the ArduPilot ModelPlugin from Gazebo classic to Gazebo.

License

The code associated with this documentation is licensed under an Apache 2.0 License.

This documentation is licensed under a Creative Commons Attribution 4.0 International License.