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https://github.com/gazebosim/ros_gz

Integration between ROS (1 and 2) and Gazebo simulation
https://github.com/gazebosim/ros_gz

cpp gazebo gazebosim hacktoberfest ignition ignition-gazebo ignition-transport pubsub robotics robotics-simulation ros ros2 simulation transport

Last synced: 4 days ago
JSON representation

Integration between ROS (1 and 2) and Gazebo simulation

Host: GitHub
URL: https://github.com/gazebosim/ros_gz
Owner: gazebosim
License: apache-2.0
Created: 2018-08-01T22:42:46.000Z (over 6 years ago)
Default Branch: ros2
Last Pushed: 2025-01-07T22:05:33.000Z (14 days ago)
Last Synced: 2025-01-09T07:13:47.062Z (12 days ago)
Topics: cpp, gazebo, gazebosim, hacktoberfest, ignition, ignition-gazebo, ignition-transport, pubsub, robotics, robotics-simulation, ros, ros2, simulation, transport
Language: C++
Homepage: https://gazebosim.org
Size: 4.25 MB
Stars: 282
Watchers: 14
Forks: 148
Open Issues: 46
Metadata Files:
- Readme: README.md
- Contributing: CONTRIBUTING.md
- License: LICENSE
- Codeowners: .github/CODEOWNERS

Awesome Lists containing this project

README

        [![Build Status](https://github.com/gazebosim/ros_gz/actions/workflows/ros2-ci.yml/badge.svg?branch=ros2)](https://github.com/gazebosim/ros_gz/actions/workflows/ros2-ci.yml)

ROS 2 version | Gazebo version | Branch | Binaries hosted at

-- | -- | -- | --

Foxy | Citadel | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | https://packages.ros.org [^2]

Foxy | Edifice | [foxy](https://github.com/gazebosim/ros_gz/tree/foxy) | only from source [^2]

Galactic | Edifice | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | https://packages.ros.org [^2]

Galactic | Fortress | [galactic](https://github.com/gazebosim/ros_gz/tree/galactic) | only from source

Humble | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org

Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/latest/ros_installation#gazebo-garden-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1] [^2]

Humble | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/harmonic/ros_installation#-gazebo-harmonic-with-ros-2-humble-iron-or-rolling-use-with-caution-)[^1]

Iron | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | https://packages.ros.org

Iron | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source [^2]

Iron | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/iron) | only from source

Jazzy | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source [^2]

Jazzy | Harmonic | [jazzy](https://github.com/gazebosim/ros_gz/tree/jazzy) | https://packages.ros.org

Rolling | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source [^2]

Rolling | Harmonic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source

Rolling | Ionic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | https://packages.ros.org

[^1]: Binaries for these pairings are provided from the packages.osrfoundation.org repository. Refer to https://gazebosim.org/docs/latest/ros_installation for installation instructions.

[^2]: Note that the Gazebo version on this row has reached end-of-life.

For information on ROS(1) and Gazebo compatibility, refer to the [noetic branch README](https://github.com/gazebosim/ros_gz/tree/noetic)

[Details about the renaming process](README_RENAME.md) from `ign` to `gz` .

**Note**: The `ros_ign` prefixed packages are shim packages that redirect to their `ros_gz` counterpart.

Under most circumstances you want to be using the `ros_gz` counterpart.

# Integration between ROS and Gazebo

## Packages

This repository holds packages that provide integration between

[ROS](http://www.ros.org/) and [Gazebo](https://gazebosim.org):

* [ros_gz](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz):

  Metapackage which provides all the other packages.

* [ros_gz_image](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_image):

  Unidirectional transport bridge for images from

  [Gazebo Transport](https://gazebosim.org/libs/transport)

  to ROS using

  [image_transport](http://wiki.ros.org/image_transport).

* [ros_gz_bridge](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge):

  Bidirectional transport bridge between

  [Gazebo Transport](https://gazebosim.org/libs/transport)

  and ROS.

* [ros_gz_sim](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim):

  Convenient launch files and executables for using

  [Gazebo Sim](https://gazebosim.org/libs/gazebo)

  with ROS.

* [ros_gz_sim_demos](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos):

  Demos using the ROS-Gazebo integration.

* [ros_gz_point_cloud](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_point_cloud):

  Plugins for publishing point clouds to ROS from

  [Gazebo Sim](https://gazebosim.org/libs/gazebo) simulations.

## Install

This branch supports ROS Rolling. See above for other ROS versions.

### Binaries

Rolling binaries are available for Fortress.

They are hosted at https://packages.ros.org.

1. Add https://packages.ros.org

        sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'

        curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -

        sudo apt-get update

1. Install `ros_gz`

        sudo apt install ros-rolling-ros-gz

### From source

#### ROS

Be sure you've installed

[ROS Rolling](https://docs.ros.org/en/rolling/index.html)

(at least ROS-Base). More ROS dependencies will be installed below.

#### Gazebo

Install either [Fortress, Harmonic or Ionic](https://gazebosim.org/docs).

Set the `GZ_VERSION` environment variable to the Gazebo version you'd

like to compile against. For example:

    export GZ_VERSION=harmonic # IMPORTANT: Replace with correct version

> You only need to set this variable when compiling, not when running.

#### Compile ros_gz

The following steps are for Linux and macOS.

1. Create a colcon workspace:

    ```

    # Setup the workspace

    mkdir -p ~/ws/src

    cd ~/ws/src

    # Download needed software

    git clone https://github.com/gazebosim/ros_gz.git -b ros2

    ```

1. Install dependencies (this may also install Gazebo):

    ```

    cd ~/ws

    rosdep install -r --from-paths src -i -y --rosdistro rolling

    ```

    > If `rosdep` fails to install Gazebo libraries and you have not installed them before, please follow [Gazebo installation instructions](https://gazebosim.org/docs/latest/install).

1. Build the workspace:

    ```

    # Source ROS distro's setup.bash

    source /opt/ros//setup.bash

    # Build and install into workspace

    cd ~/ws

    colcon build

    ```

  > [!TIP]

  > The `ros_gz` library makes heavy use of templates which causes compilers to consume a lot of memory. If your build fails with `c++: fatal error: Killed signal terminated program cc1plus`

  > try building with `colcon build --parallel-workers=1 --executor sequential`. You might also have to set `export MAKEFLAGS="-j 1"` before running `colcon build` to limit

  > the number of processors used to build a single package.

## ROSCon 2022

[![](img/video_img.png)](https://vimeo.com/showcase/9954564/video/767127300)

## Project Template

[A template project integrating ROS and Gazebo simulator](https://github.com/gazebosim/ros_gz_project_template)