The set of ROS packages for interfacing with Gazebo are contained within a
new meta package (catkin's version of stacks) named
See Overview of new ROS integration
for background information before continuing here.
These instructions are for using the Gazebo versions that are fully integrated with ROS Lunar, ROS Kinetic and ROS Indigo. It is recommended to first read Which combination of ROS/Gazebo version to use before going on with this tutorial. Depending on your needs, you could need an alternative installation.
You should understand the basic concepts of ROS and have gone through the ROS Tutorials.
We recommend for these ROS integration tutorials you install
ros-indigo-desktop-full) so that you have all the necessary packages.
See the ROS installation page for more details. Be sure to source your ROS setup.bash script by following the instructions on the ROS installation page.
You can install Gazebo either from source or from pre-build Ubuntu debians.
See Install Gazebo. If installing from source, be sure to build the
gazebo_X.Y (X.Y being your desired version) branch.
Before attempting to install the
gazebo_ros_pkgs, make sure the stand-alone Gazebo works by running in terminal:
You should see the GUI open with an empty world. Also, test adding a model by clicking on the "Insert" tab on the left and selecting a model to add (then clicking on the simulation to select where to place the model).
To see where you install Gazebo, and if it is in the correct location, run:
which gzserver which gzclient
If you installed from source to the default location it should say:
If you installed from debian it should say:
Choose the method you would prefer. The easier and faster is installing it from packages but installing from source means you can more easily debug and submit bug patches ;-)
gazebo_ros_pkgs packages are available in:
======= * ROS Noetic:
sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control
sudo apt-get install ros-kinetic-gazebo-ros-pkgs ros-kinetic-gazebo-ros-control
If this installation method ends successfully for you, jump to the Testing Gazebo with ROS Integration section below.
If you are running an earlier version of ROS (Groovy or earlier) you will need
gazebo_ros_pkgs from source. Installing from source is also useful
if you want to develop new plugins or submit patches.
These instructions require the use of the catkin build system.
If you do not have a catkin workspace setup, try the following commands:
mkdir -p ~/catkin_ws/src cd ~/catkin_ws/src catkin_init_workspace cd ~/catkin_ws catkin_make
Then add to your
.bashrc file a source to the setup scripts:
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
For more details see the Create A Catkin Workspace tutorial.
git is installed on your Ubuntu machine:
sudo apt-get install git
Kinetic is using the gazebo 7.x series, start by installing it:
sudo apt-get install -y libgazebo7-dev
Download the source code from the
gazebo_ros_pkgs github repository:
cd ~/catkin_ws/src git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b kinetic-devel
Check for any missing dependencies using rosdep:
rosdep update rosdep check --from-paths . --ignore-src --rosdistro kinetic
You can automatically install the missing dependencies using rosdep via debian install:
rosdep install --from-paths . --ignore-src --rosdistro kinetic -y
Now jump to the build the gazebo_ros_pkgs section.
To build the Gazebo ROS integration packages, run the following commands:
cd ~/catkin_ws/ catkin_make
See answers.gazebosim.org for issues or questions with building these packages.
Be sure to always source the appropriate ROS setup file, which for Kinetic is done like so:
You might want to add that line to your
Assuming your ROS and Gazebo environment have been properly setup and built, you should now be able to run Gazebo through a simple
rosrun command, after launching
roscore if needed:
Source the catkin setup.bash if it's not already in your .bashrc
roscore & rosrun gazebo_ros gazebo
The Gazebo GUI should appear with nothing inside the viewing window.
To verify that the proper ROS connections are setup, view the available ROS topics:
You should see within the lists topics such as:
/gazebo/link_states /gazebo/model_states /gazebo/parameter_descriptions /gazebo/parameter_updates /gazebo/set_link_state /gazebo/set_model_state
You can also verify the Gazebo services exist:
You should see within the list services such as:
/gazebo/apply_body_wrench /gazebo/apply_joint_effort /gazebo/clear_body_wrenches /gazebo/clear_joint_forces /gazebo/delete_model /gazebo/get_joint_properties /gazebo/get_link_properties /gazebo/get_link_state /gazebo/get_loggers /gazebo/get_model_properties /gazebo/get_model_state /gazebo/get_physics_properties /gazebo/get_world_properties /gazebo/pause_physics /gazebo/reset_simulation /gazebo/reset_world /gazebo/set_joint_properties /gazebo/set_link_properties /gazebo/set_link_state /gazebo/set_logger_level /gazebo/set_model_configuration /gazebo/set_model_state /gazebo/set_parameters /gazebo/set_physics_properties /gazebo/spawn_gazebo_model /gazebo/spawn_sdf_model /gazebo/spawn_urdf_model /gazebo/unpause_physics /rosout/get_loggers /rosout/set_logger_level
There are several
rosrun commands for starting Gazebo:
Launch both the server and client together
rosrun gazebo_ros gazebo
Launch the Gazebo server only
rosrun gazebo_ros gzserver
Launch the Gazebo client only
rosrun gazebo_ros gzclient
Launches the Gazebo server only, in debug mode using GDB
rosrun gazebo_ros debug
Additionally, you can start Gazebo using
roslaunch gazebo_ros empty_world.launch