The data communication of LD19 adopts standard universal asynchronous serial
port (UART) one-way transmission, and its transmission parameters are shown inthefollowing table:
baud rate data length stop bit parity bit flow control
230400bit/s 8 Bits 1 none none
LD19 Development Manual V2.56
3. DATA PROTOCOL
3.1. Data packet format
The LD19 adopts one-way communication. After stable operation, it starts tosend measurement data packets without sending any commands. The measurement
packet format is shown in the figure below. Header VerLen Speed Start angle Data End angle Timestamp CRCcheck54H 1 Byte LSB MSB LSB MSB …… LSB MSB LSB MSB 1 Byte  Header：The length is 1 Byte, and the value is fixed at 0x54, indicating thebeginning of the data packet;  VerLen：The length is 1 Byte, the upper three bits indicate the packet type, which is currently fixed at 1, and the lower five bits indicate the number of
measurement points in a packet, which is currently fixed at 12, so the bytevalue is fixed at 0x2C;  Speed：The length is 2 Byte, the unit is degrees per second, indicating thespeed of the lidar;  Start angle: The length is 2 Bytes, and the unit is 0.01 degrees, indicatingthe starting angle of the data packet point;  Data：Indicates measurement data, a measurement data length is 3 bytes, please refer to the next section for detailed analysis;  End angle：The length is 2 Bytes, and the unit is 0.01 degrees, indicating theend angle of the data packet point;  Timestamp ： The length is 2 Bytes, the unit is milliseconds, andthemaximum is 30000. When it reaches 30000, it will be counted again,
indicating the timestamp value of the data packet;
LD19 Development Manual V2.57
}LiDARFrameTypeDef;
uint8_t crc8;
uint16_t timestamp;
uint16_t end_angle;
LidarPointStructDef point[POINT_PER_PACK];
uint16_t start_angle;
uint16_t speed;
uint8_t ver_len;
uint8_t header;
#define POINT_PER_PACK 12
#define HEADER 0x54
typedef struct attribute ((packed))
{ uint16_t distance;
uint8_t intensity;
} LidarPointStructDef;
typedef struct attribute ((packed)) {
static const uint8_t CrcTable[256]={
0x00, 0x4d, 0x9a, 0xd7, 0x79, 0x34,0xe3, 0xae, 0xf2, 0xbf, 0x68, 0x25, 0x8b, 0xc6, 0x11, 0x5c, 0xa9, 0xe4, 0x33, 0x7e, 0xd0, 0x9d, 0x4a, 0x07, 0x5b, 0x16, 0xc1, 0x8c, 0x22, 0x6f, 0xb8, 0xf5, 0x1f, 0x52, 0x85, 0xc8, 0x66, 0x2b, 0xfc, 0xb1, 0xed, 0xa0, 0x77, 0x3a, 0x94, 0xd9, 0x0e, 0x43, 0xb6, 0xfb, 0x2c, 0x61, 0xcf, 0x82, 0x55,
 CRC check：The length is 1 Byte, obtained from the verification of all theprevious data except itself. For the CRC verification method, seethefollowing content for details;
The data structure reference is as follows:
The CRC check calculation method is as follows:
LD19 Development Manual V2.58
0x18, 0x44, 0x09, 0xde, 0x93, 0x3d, 0x70, 0xa7, 0xea, 0x3e, 0x73, 0xa4, 0xe9, 0x47, 0x0a, 0xdd, 0x90, 0xcc, 0x81, 0x56, 0x1b, 0xb5, 0xf8, 0x2f, 0x62, 0x97, 0xda, 0x0d, 0x40, 0xee, 0xa3, 0x74, 0x39, 0x65, 0x28, 0xff, 0xb2, 0x1c, 0x51, 0x86, 0xcb, 0x21, 0x6c, 0xbb, 0xf6, 0x58, 0x15, 0xc2, 0x8f, 0xd3, 0x9e, 0x49, 0x04, 0xaa, 0xe7, 0x30, 0x7d, 0x88, 0xc5, 0x12, 0x5f, 0xf1, 0xbc, 0x6b, 0x26, 0x7a, 0x37, 0xe0, 0xad, 0x03, 0x4e, 0x99, 0xd4, 0x7c, 0x31, 0xe6, 0xab, 0x05, 0x48, 0x9f, 0xd2, 0x8e, 0xc3, 0x14, 0x59, 0xf7, 0xba, 0x6d, 0x20, 0xd5, 0x98, 0x4f, 0x02, 0xac, 0xe1, 0x36, 0x7b, 0x27, 0x6a, 0xbd, 0xf0, 0x5e, 0x13, 0xc4, 0x89, 0x63, 0x2e, 0xf9, 0xb4, 0x1a, 0x57, 0x80, 0xcd, 0x91, 0xdc, 0x0b, 0x46, 0xe8, 0xa5, 0x72, 0x3f, 0xca, 0x87, 0x50, 0x1d, 0xb3, 0xfe, 0x29, 0x64, 0x38, 0x75, 0xa2, 0xef, 0x41, 0x0c, 0xdb, 0x96, 0x42, 0x0f, 0xd8, 0x95, 0x3b, 0x76, 0xa1, 0xec, 0xb0, 0xfd, 0x2a, 0x67, 0xc9, 0x84, 0x53, 0x1e, 0xeb, 0xa6, 0x71, 0x3c, 0x92, 0xdf, 0x08, 0x45, 0x19, 0x54, 0x83, 0xce, 0x60, 0x2d, 0xfa, 0xb7, 0x5d, 0x10, 0xc7, 0x8a, 0x24, 0x69, 0xbe, 0xf3, 0xaf, 0xe2, 0x35, 0x78, 0xd6, 0x9b, 0x4c, 0x01, 0xf4, 0xb9, 0x6e, 0x23, 0x8d, 0xc0, 0x17, 0x5a, 0x06, 0x4b, 0x9c, 0xd1, 0x7f, 0x32, 0xe5, 0xa8
};
uint8_t CalCRC8(uint8_t *p, uint8_t len){
uint8_t crc = 0;
uint16_t i;
for (i = 0; i < len; i++){


Resources


    * [ Topics ](/topics)
    * [ Trending ](/trending)
    * [ Collections ](/collections)


# First open the terminal interface, you can use the shortcut key of ctrl+alt+t
# If the Ubuntu system you are using does not have the git tool installed, you can install it as
follows:
$ sudo apt-get install git
# Download the source code of the product ROS2 function package:
$ cd ~ $ mkdir -p ldlidar_ros2_ws/src
$ cd ~/ldlidar_ros2_ws/src
$ git clone https://github.com/DFRobotdl/ldlidar_stl_ros2.git
#or
$ unzip ldlidar_stl_ros2.zip
5.4.3. Set device permissions
First, connect the lidar to our adapter module (CP2102 adapter), and connect
the module to the computer. Then, open a terminal under the ubuntu systemandenter ls /dev/ttyUSB* to check whether the serial device is connected. If a serial port
device is detected, use the sudo chmod 777 /dev/ttyUSB* command to give it thehighest authority, that is, give the file owner, group, and other users read, writeandexecute permissions, as shown in the following figure.
Finally, modify the port_name value in the ld19.launch.py file in the ~/ldldiar_ros2_ws/src/ldlidar_stl_ros2/launch/ directory. Take the lidar mountedinthe system as /dev/ttyUSB0 as an example, as shown below.
LD19 Development Manual V2.522
$ echo source ~/ldlidar_ros2_ws/install/setup.bash >> ~/.bashrc
$ cd ~/ldlidar_ros2_ws
$ source install/setup.bash
$ cd ~/ldlidar_ros2_ws
$ colcon build
Linux nano editor: Ctrl + O saves the edited file; Ctrl + X exits the editing
interface. 5.4.4. Build and environment settings
1) Use the colcon compilation system to compile and build the product
function package:
2) Function package environment variable settings:
After the compilation is completed, you need to add the relevant files generatedby the compilation to the environment variables, so that the ROS2 environment canbe recognized. The execution command is as follows. This command is to temporarilyadd environment variables to the terminal, which means that if you reopen a newterminal, you also need to re-execute it. The following command.
In order to never need to execute the above command to add environment
variables after reopening the terminal, you can do the following.
LD19 Development Manual V2.523
$ ros2 launch ldlidar_stl_ros2 viewer_ld19.launch.py
$ ros2 launch ldlidar_stl_ros2 ld19.launch.py
$ source ~/.bashrc
5.4.5. Run node and Rviz2 display LiDAR point cloud
Start the lidar node and execute the following command. Start the lidar node and display the lidar point cloud on Rviz2, execute the
following command.
LD19 Development Manual V2.524
# First open the terminal interface, you can use the shortcut key of ctrl+alt+t
# If the Ubuntu system you are using does not have the git tool installed, you can install it as
follows:


  return ld
2. How to Compile
Compile with colcon:


You should see the radar scan results in rviz2


Cancel  Create saved search


ROS 2 Feature packï¼  [ https://github.com/ldrobotSensorTeam/ldlidar_stl_ros
](https://github.com/ldrobotSensorTeam/ldlidar_stl_ros)


#  Provide feedback


This commit does not belong to any branch on this repository, and may belong
to a fork outside of the repository.


Prepare Test Software
Install the Test Software
Prepare Test Hardware
General Driver for Robots
Lidar (PH2.0 4P to ZH1.5 4P cable is included)
USB cable type A male port to type C male port
How to Test
Connect LD19 and the driver board with a PH2.0 to ZH1.5 4PIN cable, and note that the interface is LiDAR (next to the IIC). Then connect the driver board to the computer with a USB cable, note that the interface of the USB cable to the driver board is the Type-C interface with LiDAR written next to it.
Open the software and select LDS19, select the port, and then click "Start". The image and numbers appear, and the numbers change when moving the LD19 image, which means the test passes.
When selecting the COM port, if you are not sure which COM port to choose, you can remember it before connecting the USB cable. The COM port of the lidar is the new one. If there is no response after connecting the USB cable, then you need to install the CP2102 driver.
Publish lidar topics01.png
Publish lidar topics02.png
Publish lidar topics03.png
Lidar Connection for the Raspberry Pi Host
General Driver for Robots has an onboard LIDAR interface for connecting to the LIDAR and sending the LIDAR serial data to the host PC via USB.
The LD19 LIDAR is used by default, if you need to connect other radars, you may need to recreate the connection cable to adapt the TX, 5V, and GND pins of other radars.
The General Driver for Robots does not read LiDAR data by default. Its function is similar to that of a LiDAR adapter board (UART-to-USB). If you want to use the ESP32 module on the General Driver for Robots to process LiDAR data, you can connect the RX and LIDAR pins on the board (at the edge of the expansion pin header). The RX pin is connected to the RX pin of UART0 on the ESP32 module, and the LIDAR pin is connected to the TX pin of the LiDAR. However, it is important to note that processing LiDAR data requires a lot of computing power and may affect other functions of the ESP32 as a robot's slave computer. Therefore, this tutorial mainly introduces how to use LiDAR data on a slave computer.
The connection between the LiDAR and the host computer is shown below:
Publish lidar topics04.jpg
Publishing LIDAR Topics in ROS2
In this section, we use Raspberry Pi as the host computer. You can also use this method in an Ubuntu virtual machine to use LiDAR. Here, we use ROS2 as an example to demonstrate how to publish LiDAR topics in ROS2.
To use Raspberry Pi, you need to run the official system. If you don't know how to create an image, you can refer to this tutorial to program the image onto an SD card.


[ 17 Commits  ](/ldrobotSensorTeam/ldlidar_ros2/commits/master/)


* [ The ReadME Project  GitHub community articles  ](/readme)


[ MIT license ](/ldrobotSensorTeam/ldlidar_ros2/blob/master/LICENSE)


ROS 2 Feature packï¼  [ https://gitee.com/ldrobotSensorTeam/ldlidar_stl_ros
](https://gitee.com/ldrobotSensorTeam/ldlidar_stl_ros)


##  Folders and files


> If successful, the _pthread_mutex_init()_ and _pthread_mutex_destroy()_
> functions return zero. Otherwise, an error number is returned to indicate
> the error. The [EBUSY] and [EINVAL] error checks, if implemented, act as if
> they were performed immediately at the beginning of processing for the
> function and cause an error return prior to modifying the state of the mutex
> specified by _mutex_ .


def generate_launch_description():
  # LDROBOT LiDAR publisher node
  ldlidar_node = Node(
      package='ldlidar_stl_ros2',
      executable='ldlidar_stl_ros2_node',
      name='LD06',
      output='screen',
      parameters=[
        {'product_name': 'LDLiDAR_LD06'},
        {'topic_name': 'scan'},
        {'frame_id': 'base_laser'},
        {'port_name': '/dev/ttyUSB0'},
        {'port_baudrate': 230400},
        {'laser_scan_dir': True},
        {'enable_angle_crop_func': False},
        {'angle_crop_min': 135.0},
        {'angle_crop_max': 225.0}
      ]
  )


 LiDAR LD19 ROS Package
2) Hardware support:
raspberrypi 3B+ SBC 、raspberrypi 4B SBC
 SD card with a capacity greater than or equal to 16GB
5.6.2 Mirror usage
1) Download image file:
 Download link 1：https://pan.baidu.com/s/1fvTfXBbWC9E5XNNUY5aJhw提取码：ky8a Download link 2:
https://drive.google.com/file/d/1ylMTFGRZ9cRcy3Njvf10cxDo4Wy3tfCB/view?usp=sharing The image file name is 2022-03-24-raspios-buster-armhf-ldrobot-customization.img.xz2) Write the image file to SD card and run the system:
Write through the Win32DiskImager tool, insert it into the Raspberry Pi cardslotaftersuccessful writing, and power on the system
1 System login related information
Username: pi
Hostname: raspberrypi
 Passward: pi
2 Running the lidar node
LD19 Development Manual V2.527
$ nano ~/ldlidar_ros_ws/src/ldldiar_stl_ros/launch/ld19.launch
$ roslaunch ldlidar_stl_ros ld19.launch
#step1: Make sure the lidar device is connected to the raspberrypi SBC, and open a terminal viatheshortcut Ctrl+Alt+T. #step2: Retrieve the port device file corresponding to the radar device through ls -l /dev, give executablepermission, and then modify the lanuch file parameters. Take the port file corresponding to the lidar deviceas /dev/ttyUSB0 as an example. $ sudo chmod 777 /dev/ttyUSB0
# Note: It is recommended to update the LIdar ROS driver package in the mirror for the first time
$ cd ~ && cd ~/ldlidar_ros_ws/src/
$ rm -rf ldlidar_stl_ros/
$ git clone https://github.com/DFRobotdl/ldlidar_stl_ros.git
Finally, modify the port_name value in the ld19.launch file inthe~/ldldiar_ros_ws/src/ldlidar_stl_ros/launch/ directory. Take the lidar mounted inthesystem as /dev/ttyUSB0 as an example, as shown below.
Start the lidar node and execute the following command. Start the lidar node and display the lidar point cloud data on Rviz, execute thefollowing command. $ roslaunch ldlidar_stl_ros viewer_ld19_kinetic_melodic.launch
LD19 Development Manual V2.528
6. REVISION HISTORY
version revision date modify the content
1.0 2020-09-01 Initial creation
1.1 2021-01-15 Remove the Transform() function
2.0 2022-02-27
Added the content of the development kit
instructions
2.1 2022-03-06
Increase the graphic design of the document andrevise the content format
2.2 2022-03-09
Modify the document cover title and part of thecontent
2.3 2022-03-15 Revise problematic statements in documentation2.4 2022-04-02
1) Modify the LOGO;
2) Added 3D model file resource introduction;
3) Add the introduction of Raspberry Pi customimage usage;


* new a terminal (Ctrl + Alt + T) and use Rviz2 tool(run command: ` rviz2 ` ) ,open the ` ldlidar.rviz ` file below the rviz2 folder of the readme file directory


You should see the result in rviz2


> The _pthread_mutex_init()_ function will fail if:
>
> [EAGAIN]      The system lacked the necessary resources (other than memory)
> to initialise another mutex.  [ENOMEM]      Insufficient memory exists to
> initialise the mutex.  [EPERM]      The caller does not have the privilege
> to perform the operation.
>
> The _pthread_mutex_init()_ function may fail if:
>
> [EBUSY]      The implementation has detected an attempt to re-initialise the
> object referenced by _mutex_ , a previously initialised, but not yet
> destroyed, mutex.  [EINVAL]      The value specified by _attr_ is invalid.
>
> The _pthread_mutex_destroy()_ function may fail if:
>
> [EBUSY]      The implementation has detected an attempt to destroy the
> object referenced by _mutex_ while it is locked or referenced (for example,
> while being used in a _[ pthread_cond_wait() ](pthread_cond_wait.html) _ or
> _[ pthread_cond_timedwait() ](pthread_cond_timedwait.html) _ ) by another
> thread.  [EINVAL]      The value specified by _mutex_ is invalid.
>
> These functions will not return an error code of [EINTR].


  * After the compilation is completed, you need to add the relevant files generated by the compilation to the environment variables, so that the ROS environment can recognize them. The execution command is as follows. This command is to temporarily add environment variables to the terminal, which means that if you reopen a new terminal, you also need to re-execute it. The following command.

        cd ~/ldlidar_ros2_ws

    source install/local_setup.bash


    xxxxxxxxxx

    cd ~/my_ws/src/ldlidar_stl_ros2/scripts

    sudo chmod 777 *

    ./create_udev_rules.sh


#  LD06 LiDar ROS2


$ sudo apt-get install git
# Download the source code:
$ cd ~ $ mkdir ldlidar_ws
$ cd ~/ldlidar_ws
$ git clone https://github.com/DFRobotdl/ldlidar_stl_sdk.git
# or
$ unzip ldlidar_stl_sdk.zip
5.5. Instructions for using SDK under Linux
5.5.1. Get the source code of SDK
The source code of the Linux SDK of this product is hosted on the repositories of
Github. You can download the source code of the master or main branchbyaccessing the network link of the repository, or download it through the gittool.Users
can also directly extract SDK_LD19 > ldlidar_stl_sdk.zip to the following path for use. 1) Repository website address
 https://github.com/DFRobotdl/ldlidar_stl_sdk
2) git tool download operation
5.5.2. Set device permissions
First, connect the lidar to our adapter module (CP2102 adapter), and connect
the module to the computer. Then, open a terminal under the ubuntu systemandenter ls /dev/ttyUSB* to check whether the serial device is connected. If a serial port
LD19 Development Manual V2.525
$ sudo apt-get install build-essential cmake
$ cd ~/ldlidar_ws/ldlidar_stl_sdk
# If the build folder does not exist in the ldlidar_stl_sdk directory, it needs to be created
$ mkdir build
$ cd build
$ cmake ../
$ make
$ cd ~/ldlidar_ws/ldlidar_stl_sdk/build
$ ./ldlidar_stl <serial_number>
# eg: ./ldlidar_stl /dev/ttyUSB0
device is detected, use the sudo chmod 777 /dev/ttyUSB* command to give it thehighest authority, that is, give the file owner, group, and other users read, writeandexecute permissions, as shown in the following figure.
5.5.3. Build
The source code is coded in C++11 standard C++ language and C99 standardClanguage. Use CMake, GNU-make, GCC and other tools to compile and buildthesource code. If you use Ubuntu system without the above tools installed, youcanexecute the following command to complete the installation.
If the tools indicated above already exist in the system, do the following.
5.5.4. Run binary program
LD19 Development Manual V2.526
5.6. Instructions for using ROS based on Raspberry Pi SBCPlease refer to the manual 《LD19 Raspberry Pi Raspbian User manual_V2.9.pdf》for details.
In addition, we have provided a custom image for Raspberry Pi for this product, and its usage tutorial is as follows:
5.6.1 Introduction to mirroring
1) Mirror composition:
 raspberrypi raspbian OS version: 2020-08-20-raspios-buster-armhf
 ROS environment version：ROS melodic


* The product is LDROBOT LiDAR LD14


Navigation menu
Waveshare Wiki
Raspberry Pi
AI
Displays
IoT
Robotics
MCU/FPGA
Support
IC
Search
Tutorial XI Lidar and Publishing Lidar Topics in ROS2
Modules Usage Tutorial
How To Install Arduino IDE
Tutorial I: Motor With Encoder Control Demo
Tutorial II: Motor With Encoder Control Demo 2
Tutorial III: Motor With Encoder Control Demo 3
Tutorial IV: Motor Without Encoder Control Demo
Tutorial V: ST3215 Serial Bus Servo Control Demo
Tutorial VI: PWM Servo Control Demo
Tutorial VII: IMU Data Reading Demo
Tutorial VIII: SD Card Reading Demo
Tutorial IX: INA219 Voltage And Current Monitoring Demo
Tutorial X: OLED Screen Control Demo
Tutorial XI Lidar and Publishing Lidar Topics in ROS2
General Driver for Robots WIKI Main Page
Simple Test of Lidar in Windows
The first section is a simple test of the lidar in Windows. Since ROS2 is relatively complex to use, we provide this simple method to test the lidar.


* Set the -x permission for the serial port device mounted by the radar in the system (for example, /dev/ttyUSB0)


By Solution


ros2 run my_package my_client my_model "<?xml version=\"1.0\" ?><sdf version=\"1.5\"><model name=\"will_be_ignored\"><static>true</static><link name=\"link\"><visual name=\"visual\"><geometry><sphere><radius>1.0</radius></sphere></geometry></visual></link></model></sdf>"


##  Hardware Acceleration in Docker


                        'Test {}'.format(minimal_client.req.xml))
                break

        minimal_client.destroy_node()
        rclpy.shutdown()

    if __name__ == '__main__':
        main()


[ ![Reka gravatar
image](//www.gravatar.com/avatar/13192370985ec221a13aaf0971f4de0a?s=32&d=identicon&r=PG)
](/users/41393/reka/)


[
![@atinfinity](https://avatars.githubusercontent.com/u/2630323?s=80&u=6c0def0edb80189bdb0fe883b22e93f88f013028&v=4)
](/atinfinity)


**For Intel systems:**


Sorry, something went wrong.


3) Source your workspace in the terminals you open ( ` source
install/setup.bash ` )


[
![@newcanopies](https://avatars.githubusercontent.com/u/65022111?s=40&u=71403f25012a9b1099c49f41b065b7ca2f1d943d&v=4)
](/newcanopies) [ newcanopies ](/newcanopies) mentioned this issue  Jun 7,
2021


Thereâs an obvious tradeoff with this method because it deviates the
simulation from real robots, and the behaviour of certain perception
algorithms can degrade many of the sensors it relies upon are low resolution.


**[ aihoque2 ](/aihoque2) ** commented  Feb 21, 2023


14, Raghava Enclave, Transport Road, Secunderabad, Hyderabad (500009)


5 followers


Get ready to speed up your simulations in Gazebo.


  1. Downscaling meshes
  2. Hardware Acceleration in Docker
  3. Efficient Spawning and Deletion of Models
  4. Reducing Lighting Sources and Disabling Shadows
  5. Other Optimizations


Migration from Gazebo Classic: Plugins - Fortress | Harmonic
Migration from Gazebo classic: SDF - Fortress | Harmonic
Case study: migrating the ArduPilot ModelPlugin from Gazebo classic to Gazebo - Fortress | Harmonic
Basic description of SDF worlds
Feature Comparison with Gazebo Classic
Documentation for ros_gz
List of Systems (plugins): Fortress | Harmonic
Migrating ROS 2 packages that use Gazebo Classic
Update package dependencies
Launch the world
Edit world SDFormat file
Spawn model
Modify the model
libgazebo_ros_imu_sensor.so
libgazebo_ros_ray_sensor.so
libgazebo_ros_camera.so
libgazebo_ros_diff_drive.so
libgazebo_ros_joint_state_publisher.so
World plugins
Bridge ROS topics
Migrating other files in turtlebot3_gazebo
Brought to you by Open Robotics.


[ atinfinity ](/atinfinity) opened this issue  Feb 18, 2021  · 4 comments


In this example I am launching the robot state publisher with a URDF file
called ` camera_bot.xacro ` (I am using .xacro because I want to reference
other XML files, but a standard ` .urdf ` or ` .xml ` will work all the same)
from a package called ` ros2_sim_pkg ` . Change the URDF and package names to
fit your project.


**For Nvidia systems:**


The next step is to clone the turtlebot3_simulation package. We'll use the humble-devel branch, which at the time of writing had a SHA of d16cdbe


  <!-- limits -->
  <max_linear_acceleration>0.033</max_linear_acceleration> <!-- computed from <max_linear_acceleration> in the original plugin-->


##  Conclusion


    which gzserver
    which gzclient


[ ROS2 crystal - QoS publisher failure routine
](/question/314765/ros2-crystal-qos-publisher-failure-routine/)


Here is how you go about doing it (as individual steps)


![](https://github.com/osrf/gazebo_tutorials/raw/master/ros_installing/figs/800px-
EmptyGazebo.png)


6) Run the URDF spawner node: ` ros2 run gazebo_ros spawn_entity.py ` -topic
/robot_description -entity my_cam_bot`


###  Footer navigation


If this installation method ends successfully for you, jump to the Testing
Gazebo with ROS Integration section below.


[ **answered 2019-03-13 13:21:02 -0500  ** ](/answers/318494/revisions/)


Closed


> <scene>
>  <shadows>0</shadows>
>  <grid>false</grid>
>  <origin_visual>false</origin_visual>
>  </scene>


2) Build your workspace ( ` colcon build ` )


We'll start by following the PC Setup guide to install the necessary prerequisites for simulating Turtlebot3. This will install additional packages, such as Nav2 and Cartographer, which we will be using later on in this tutorial, so make sure to not skip this step.


[ [Ros2] load a .yaml file in cpp program ](/question/313927/ros2-load-a-yaml-
file-in-cpp-program/)


rostopic list


You can’t perform that action at this time.


Modify the model
We will be using the waffle robot for this tutorial, so we'll edit the file turtlebot3_gazebo/models/turtlebot3_waffle/model.sdf. The changes we need to make are mostly related to plugins and their parameters. You can reference the Waffle model SDF file before editing here, and after editing here. For each <plugin> in the original model, The following is a list of all the plugins in the original model. For each plugin, we will either remove the plugin if it's no longer necessary, or use the equivalent plugin from the new Gazebo. You can use the Feature comparison page (Fortress, Harmonic) to find out of a Gazebo Classic feature (e.g. a Sensor type) is available in Gazebo. If an equivalent plugin is used, we will update the SDF parameters of the plugin to match the parameters of the new plugin. See the list of systems (Fortress, Harmonic) to find equivalent plugins and their parameters.


And with that you should have gazebo running with your URDF spawned in at the
origin. I do not have Karma points so I can not show you a picture of it
working unfortunately.


##  Related questions


For


###  Install Gazebo


| Copyright Â© 2023 Black Coffee Robotics


spawn model with ROS2 gazebo


5) Launch the launch file you just created to configure your
robot_state_publisher: ` ros2 launch ros2_sim_pkg cam_bot_world.launch ` .
Make sure to change the package name and launch file name to match yours.


[ ![808brick gravatar image](/m/default/media/images/nophoto.png?v=28)
](/users/51297/808brick/)


Clear


Last updated: **Feb 15 '22**


![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64b5273153f53e9be8777a75_1*9QBE4bvQZVRYQ5fgCKcLtA.gif)


[ [gazebo_ros_factory]: Resolve package:// urls  #1284  ](/ros-
simulation/gazebo_ros_pkgs/pull/1284)


Name


Edit world SDFormat file
The file we will be editing is turtlebot3_gazebo/worlds/empty_world.world. This file references the models sun and ground_plane. In Gazebo Classic, these models were either shipped with the simulator or downloaded from the gazebo model repository. The new Gazebo does not ship these models, instead we can use models from Fuel or add the models directly to the world file.


#  Saved searches


pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
to:


set_env_vars_resources = AppendEnvironmentVariable(
        'GZ_SIM_RESOURCE_PATH',
        os.path.join(get_package_share_directory('turtlebot3_gazebo'),
                     'models'))
We'll then need to add the action to ld, the LaunchDescription variable returned by generate_launch_description.


[ [robot_state_publisher-3] process has died
](/question/370661/robot_state_publisher-3-process-has-died/)


# gz topic published by JointState plugin
- ros_topic_name: "joint_states"
  gz_topic_name: "joint_states"
  ros_type_name: "sensor_msgs/msg/JointState"
  gz_type_name: "gz.msgs.Model"
  direction: GZ_TO_ROS


Follow


rosdep install --from-paths . --ignore-src --rosdistro noetic -y


#####  ROS Noetic


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 ;-)


Pick a username


You might want to add that line to your ` ~/.bashrc ` .


Note: The list assigned to gz_args is concatenated into a string with code equivalent to ''.join(gz_args), so it's important to keep whitespace where necessary. Note the space after 4 in '-v4 '.


# gz topic subscribed to by DiffDrive plugin
- ros_topic_name: "cmd_vel"
  gz_topic_name: "cmd_vel"
  ros_type_name: "geometry_msgs/msg/Twist"
  gz_type_name: "gz.msgs.Twist"
  direction: ROS_TO_GZ


Since we work on varying ROS and ROS2 distros simultaneously, we do all our
development in Docker. If you plan on running Gazebo or even Rviz in Docker,
GPU support is essential to get the best results. ROS has a nice tutorial for
[ hardware acceleration
](https://wiki.ros.org/docker/Tutorials/Hardware%20Acceleration) for dockers.
Paraphrasing the important parts:


[ ![](https://assets-global.website-
files.com/5e7b3ab65e9f113eadf770b4/5eba355ac3a6603c1730472c_nav%20bar%20BCR%20Logo.png)
](/)


* [ GitHub Sponsors  Fund open source developers  ](/sponsors)


To see all available qualifiers, see our [ documentation
](https://docs.github.com/search-github/github-code-search/understanding-
github-code-search-syntax) .


####  Build the gazebo_ros_pkgs


Spawn model
In this step, we will modify turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py. Again, we need to change gazebo_ros to ros_gz_sim. We'll also need to change spawn_entity.py to create, which is the node in ros_gz_sim that provides model spawning functionality. From the argument list, -entity needs to be replaced with -name. You can run ros2 run ros_gz_sim create --helpshort to see more options.
The resulting Node should look like:
start_gazebo_ros_spawner_cmd = Node(
    package='ros_gz_sim',
    executable='create',
    arguments=[
        '-name', TURTLEBOT3_MODEL,
        '-file', urdf_path,
        '-x', x_pose,
        '-y', y_pose,
        '-z', '0.01'
    ],
    output='screen',
)
If you uncomment ld.add_action(spawn_turtlebot_cmd) in empty_world.launch.py and run the launch file, you'll notice errors related to unrecognized plugins. These are coming from the model SDFormat file, which we will modify next.


Author


[ ![Jeffin Johny gravatar image](/m/default/media/images/nophoto.png?v=28)
](/users/115928/jeffin-johny/) [ Jeffin Johny ](/users/115928/jeffin-johny/) (
2022-08-30 21:55:20 -0500  )  edit


To create the bridge, we'll use a yaml file that contains the topic names and their mappings. We'll add a new directory params in turtlebot3_gazebo and create turtlebot3_waffle_bridge.yaml with the following content:


    /gazebo/link_states
    /gazebo/model_states
    /gazebo/parameter_descriptions
    /gazebo/parameter_updates
    /gazebo/set_link_state
    /gazebo/set_model_state


[ Gazebo in the hardware loop ](/question/44457/gazebo-in-the-hardware-loop/)


Before attempting to install the ` gazebo_ros_pkgs ` , make sure the stand-
alone Gazebo works by running in terminal:


You signed in with another tab or window. [ Reload ]() to refresh your
session.  You signed out in another tab or window. [ Reload ]() to refresh
your session.  You switched accounts on another tab or window. [ Reload ]() to
refresh your session.  Dismiss alert


* [ The ReadME Project  GitHub community articles  ](/readme)


    cd ~/catkin_ws/src
    git clone https://github.com/ros-simulation/gazebo_ros_pkgs.git -b noetic-devel


Note: Due to a bug in the GUI client, there might be a lingering ign gazebo -g or gz sim -g process after terminating the launch. You can kill it using pkill -f -9 'ign gazebo'


sudo rosdep init # only needed if  using rosdep
rosdep install --from-paths . -i -y
Finally, build the project and check that the Gazebo classic simulation works. (See the Gazebo Simulation guide)


Before and After: Disabling Shadows, embedded grid and origin visuals


Skip to content


[ ![@atinfinity](https://avatars.githubusercontent.com/u/2630323?s=52&v=4)
](/atinfinity) [
![@aihoque2](https://avatars.githubusercontent.com/u/22041268?s=52&v=4)
](/aihoque2) [
![@newcanopies](https://avatars.githubusercontent.com/u/65022111?s=52&v=4)
](/newcanopies)


  * Launch the Gazebo server only

        rosrun gazebo_ros gzserver


[ 4 challenges in robotics product development  Read time 4 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/640c35aa3ecaf8c09c320117_rpd_cover_2.jpg)
](/blog/4-challenges-in-robotics-product-development)


Include my email address so I can be contacted


Search


1) Create a Launch File for for your robot state publisher, here is an
example:


You should understand the basic concepts of ROS and have gone through the [
ROS Tutorials ](http://www.ros.org/wiki/ROS/Tutorials) .


#  [ROS2] Could not spawn URDF model  #1236


The on_exit_shutdown argument ensures that if the Gazebo server exits for any reason, the rest of the nodes in the launch file are shutdown


The GUI client is launched in a similar way, but we change gz_args to -g to run just the GUI client.


##  Reducing Lighting Sources and Disabling Shadows


Toggle navigation  [
![gazebo](/assets/masthead-0bd44817978df8069f427d8ca1657998789065a2b242edfd1a3d8ab4a329dd4c.png)
](/)


To verify that the proper ROS connections are setup, view the available ROS
topics:


To correct this, we save the gazebo camera pose in the world file to save
panning and zooming time.


[ tfoote ](/users/3/tfoote/) ![flag of United States of
America](/m/default/media/images/flags/us.gif?v=28)
58457  ●  128  ●  550  ●  526  [ http://www.ros.org/ ](http://www.ros.org/
"tfoote's website is http://www.ros.org/")


A model named "05" is loaded in Gazebo model tab, but it is not visible in the
world.

---

All reactions


**[ newcanopies ](/newcanopies) ** commented  May 3, 2021  •


See the [ ROS installation page ](http://www.ros.org/wiki/ROS/Installation)
for more details. Be sure to source your ROS setup.bash script by following
the instructions on the ROS installation page.


Disabling shadows also boosts the rendering FPS, especially when launching the
simulation in CPU-only modes.
To disable shadows, modify the scene attributes as follows:


FEATURES
SHOWCASE
DOCS
COMMUNITY
MORE
APP
Docs / Gazebo Harmonic
Supported Sep, 2023 to Sep, 2028
LTS
Harmonic (LTS)
Release
Get Started
Install
Tutorials
Migration From Ignition
Feature Comparison
Ros/gazebo Installation
Migration From Ros 2 Gazebo Classic
Roadmap
Release Features
Releases
Development
Sim Architecture
Fuel
Library Reference
Migrating ROS 2 packages that use Gazebo Classic
The Gazebo simulator has its roots in the Gazebo Classic project, but it has a few significant differences that affect how a ROS 2 project uses the simulator. One difference is that ROS 2 projects now use the ros_gz package instead of gazebo_ros_pkgs as the source of launch files and other useful utilities. Another major difference is that while gazebo_ros_pkgs provided a set of plugins that directly get loaded by Gazebo Classic and run as part of the simulation to provide an interface between ROS and Gazebo Classic, ros_gz is primarily used as a bridge between ROS and gz-transport topics. Knowing these conceptual differences is important in making the transition.


[ ROS and ROS2 Navigation Stacks: A performance review  Read time 7 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/63f90f613fc93f95c74a965a_ros1ros2nav.png)
](/blog/ros-and-ros2-navigation-stacks-a-performance-review)


<topic>cmd_vel</topic> <!-- from <commant_topic> -->


Download the source code from the [ ` gazebo_ros_pkgs ` github repository
](https://github.com/ros-simulation/gazebo_ros_pkgs) :


[ **answered 2019-02-04 11:30:17 -0500  ** ](/answers/314681/revisions/)


[ Search syntax tips ](https://docs.github.com/search-github/github-code-
search/understanding-github-code-search-syntax)


[ Robotics Product Development: Pitfalls you need to know  Read time 5 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/63f90c056e2483866c71b685_rpdp.png)
](/blog/robotics-product-development-learning)


* [ Pricing ](/pricing)


[ poonam1120 ](/users/38719/poonam1120/)
77  ●  9  ●  12  ●  14


    * [ Enterprise ](/enterprise)
    * [ Teams ](/team)
    * [ Startups ](/enterprise/startups)
    * [ Education  ](https://education.github.com)


[ GPS based Localization for Self-Driving Robots  Read time 6 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64033f2c5361e52d693b7c6f_gps_localization.png)
](/blog/gps-based-localization-for-self-driving-robots)


**Have a question about this project?** Sign up for a free GitHub account to
open an issue and contact its maintainers and the community.


Modify package.xml and CMakeLists.txt files replacing gazebo, gazebo_ros_pkgs, etc with packages from ros_gz.
Edit launch files that start Gazebo (e.g. empty_world.launch.py)
Update the world SDFormat file.
Edit launch files that spawn models.
Edit model SDFormat files.
Bridge ROS topics.
Update package dependencies
The turtlebot 3 package depends on gazebo_ros_pkgs, which is the package that provides launch files, plugins, and other utilities for using Gazebo classic with ROS 2. The equivalent for the new Gazebo is ros_gz, but ros_gz is actually a meta-package that contains a few packages. It's okay to replace gazebo_ros_pkgs with ros_gz here, but using just the subset of packages needed for your project will reduce the number of dependencies. For the turtlebot3_simulation package, we will only need ros_gz_bridge, ros_gz_image, and ros_gz_sim for now. ros_gz_bridge and ros_gz_image provide topic bridges between Gazebo and ROS while ros_gz_sim provides launch files and other utilities that help with starting Gazebo and spawning models.


Open


[ 5 Ways to Speedup Gazebo Simulations  Read time: 7 mins  ![](https://assets-
global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64b52af1de8dcc67e648ed8f_sim_speed_thumb.jpg)
](/blog/5-ways-to-speedup-gazebo-simulations)


[ ros-simulation ](/ros-simulation) /  **[ gazebo_ros_pkgs ](/ros-
simulation/gazebo_ros_pkgs) ** Public


The order of magnitude of these faces is in the range of millions. Hence it
results in virtually no change in appearance after reducing the model ratio
significantly. Depending upon your mesh size, this method can boost your
simulation substantially.


[ Migration from Gazebo Classic to Ignition with ROSÂ 2  Read time 4 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/649d7e725c2b81b728090ea3_image.png)
](/blog/migration-from-gazebo-classic-to-ignition-with-ros-2)


Read time: 7 mins


You can feel free to combine all these steps into one big launch file for
convenience, but I just wanted to illustrate the process order so it was more
understandable.


[ subscribe to rss feed ](/feeds/question/314607/ "subscribe to the rss feed")


# gz topic published by Sensors plugin
- ros_topic_name: "scan"
  gz_topic_name: "scan"
  ros_type_name: "sensor_msgs/msg/LaserScan"
  gz_type_name: "gz.msgs.LaserScan"
  direction: GZ_TO_ROS


{{ message }}


###  Install ROS


You should see within the list services such as:


Copy link


[ How to become a robotics software engineer  Read time 5 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/641982ff80f7ef2c61002d68_zubin_arm_robot.jpeg)
](/blog/how-to-become-a-robotics-software-engineer)


####  Test that you have the right version of Gazebo


##  Footer


[ edit ](/s/answers/374963/edit/) flag offensive  delete  [ link
](/question/314607/spawn-model-with-ros2-gazebo/?answer=374963#post-id-374963
"permanent link") more


  * Configure [ Nvidia Container Toolkit ](https://catalog.ngc.nvidia.com/orgs/nvidia/teams/k8s/containers/container-toolkit) with your Docker from the following documentation [ page ](https://docs.nvidia.com/datacenter/cloud-native/container-toolkit/latest/install-guide.html#setting-up-nvidia-container-toolkit) .
  * Add the following environment variables to your Dockerfile on build:


  * Additionally, you can start Gazebo using ` roslaunch `

        roslaunch gazebo_ros empty_world.launch


No milestone


After making the change, we'll need to install the new dependencies. The following command will automatically install the necessary Gazebo version.


Following tfoote's advice, here is an example:


[ ![ gravatar image]() ]() [ ]() (  2024-04-14 18:33:55 -0500  )  edit


You should see within the lists topics such as:


####  Setup A Catkin Workspace


Jump to bottom


Check for any missing dependencies using rosdep:


No one assigned


** WARNING ** : This documentation is for Gazebo-classic, which has been
superseded by Gazebo. [ Click here to see the documentation for the latest
Gazebo release ](https://gazebosim.org/docs)


bridge_params = os.path.join(
    get_package_share_directory('turtlebot3_gazebo'),
    'params',
    'turtlebot3_waffle_bridge.yaml'
)


To spawn a sphere in Gazebo:


* [ gazebo ](/questions/scope:all/sort:activity-desc/tags:gazebo/page:1/)


ros2 launch turtlebot3_gazebo empty_world.launch.py
More than likely, this will fail because Gazebo could not find models referenced in the world SDFormat file. The next step is to fix that.


Resources


---

The text was updated successfully, but these errors were encountered:


![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64b52731e72d81d58780be86_1*ZlzeU62e5-A8yrVbFYYuOg.gif)


All reactions


[ edit ](/s/answers/318494/edit/) flag offensive  delete  [ link
](/question/314607/spawn-model-with-ros2-gazebo/?answer=318494#post-id-318494
"permanent link") more


# gz topic published by DiffDrive plugin
- ros_topic_name: "tf"
  gz_topic_name: "tf"
  ros_type_name: "tf2_msgs/msg/TFMessage"
  gz_type_name: "gz.msgs.Pose_V"
  direction: GZ_TO_ROS


* [ crystal ](/questions/scope:all/sort:activity-desc/tags:crystal/page:1/)


No branches or pull requests


But instead of sending sdf model code from command line, can we send just
sdf/urdf file ? I tried that but it failed.


**[ atinfinity ](/atinfinity) ** commented  Feb 18, 2021


* Open Source


I followed this link and able to spawn the sdf model in gazebo.


##  Downscaling Meshes


I'd like to update this answer for some people, as ROS2 functionality has
improved but the documentation has not yet caught up. (To be clear it is March
2021 and I am running ROS 2 Foxy)


sudo apt-get install -y libgazebo11-dev


# gz topic published by DiffDrive plugin
- ros_topic_name: "odom"
  gz_topic_name: "odom"
  ros_type_name: "nav_msgs/msg/Odometry"
  gz_type_name: "gz.msgs.Odometry"
  direction: GZ_TO_ROS


The examples are using generic command line tools. If you want to send from a
file you can probably set it up to pipe the arguments into the rosservice call
using xargs. But more likely I'd recommend writing the few line rclpy script
to load the file and call the service call. If you'd like to contribute a
generic version of that helper script to the gazebo_ros_pkgs that would be
even better.


Copy link


An abundance of lighting sources in simulation is a significant cause for
lowering the real-time factor in Gazebo.


* 👍  1 reaction


edit


[ ![Google+](/assets/google_gray-
cc34826f560f99c7a9b7db88cd5f2db4d28fd4b3afcfa4b897435c51e3b25518.png)
](//plus.google.com/u/0/115981436296571800301?prsrc=3) [
![YouTube](/assets/youtube_gray-978838444154eb6aa5e4aa38489f66d10e40361dd06a3814411c211cba013752.png)
](https://www.youtube.com/channel/UCJyqf9XJpDoM9XnpAwW6WxA) [
![YouTube](/assets/twitter_gray-8e9dfe74c6cab12171992a40add9a65e5bba92ac93063a4ac0eeba58c77e774a.png)
](https://twitter.com/GazeboSim)


###  Setting the initial pose of your camera


This plugin can be removed since there is a generic IMU plugin that handles all IMU sensors. We will add this to the world later. We will set the <topic> tag inside <sensor> to a short topic name to make it easier when creating a ROS bridge later. The entire <sensor> tag should now look like:


I used [ https://github.com/ros/urdf_tutorial/blob/master/urdf/05-visual.urdf
](https://github.com/ros/urdf_tutorial/blob/master/urdf/05-visual.urdf) .


We use the [ Decimate Modifier function
](https://docs.blender.org/manual/en/latest/modeling/modifiers/generate/decimate.html)
to downscale meshes provided by the said suite to reduce the number of faces
in the robotic meshes. There are mainly three types of methods by which you
can Decimate or modify.


[ **updated 2022-02-15 03:53:54 -0500  ** ](/answers/396189/revisions/)


1) Launch gazebo (not the standard way, I will elaborate below)
2) Launch the robot state publisher with your URDF file
3) Run the ` spawn_entity ` node to spawn your robot into gazebo


See [ Install Gazebo ](/tutorials?cat=install) . If installing from source, be
sure to build the ` gazebo_X.Y ` (X.Y being your desired version) branch.


  * Reduction of max clipping distance
  * Reducing update rate
  * Limiting the horizontal and vertical field of view
  * Downsizing the resolution of the output image (only for cameras)


4) Launch gazebo with ` ros2 launch gazebo_ros gazebo.launch.py `


©2014 Open Source Robotics Foundation


* Solutions


**Additional context**


See [ answers.gazebosim.org ](http://answers.gazebosim.org/questions/) for
issues or questions with building these packages.


Please let me know if anybody is having any clue.


  2. Run the client node:

          ros2 run my_package my_client_name entity_name xml_description


edited


[ ![Twitter Link](https://assets-global.website-
files.com/5e7b3ab65e9f113eadf770b4/60a00125f9cc8f85844407ba_Twitter%20social%20icons%20-%20rounded%20square%20-%20blue.png)
](https://twitter.com/bcrllp) [ ![LinkendIn Link](https://assets-
global.website-
files.com/5e7b3ab65e9f113eadf770b4/640975263d2118947636e711_linkedinicon.png)
](http://www.linkedin.com/company/blackcoffeerobotics)


<plugin
  filename="gz-sim-physics-system"
  name="gz::sim::systems::Physics">
</plugin>
<plugin
  filename="gz-sim-user-commands-system"
  name="gz::sim::systems::UserCommands">
</plugin>
<plugin
  filename="gz-sim-scene-broadcaster-system"
  name="gz::sim::systems::SceneBroadcaster">
</plugin>
<plugin
  filename="gz-sim-sensors-system"
  name="gz::sim::systems::Sensors">
  <render_engine>ogre2</render_engine>
</plugin>
<plugin
  filename="gz-sim-imu-system"
  name="gz::sim::systems::Imu">
</plugin>
Bridge ROS topics
In Gazebo Classic, communication with ROS is enabled by plugins in gazebo_ros_pkgs that directly interface with the simulator. In contrast, in the new Gazebo, communication with ROS is mainly done through topic bridges provided by ros_gz. The bridge node is a generic node that bridges topics between gz-transport and ROS 2.


Search or jump to...


rosdep install --from-paths . -i -y
This tutorial assumes you are using Gazebo Fortress as it is the version of Gazebo officially paired with ROS 2 Humble. While it is possible to use newer versions of Gazebo with ROS 2 Humble, it requires extra work and is not recommend for most users. See Installing Gazebo with ROS to learn more. If you intend to switch back and forth between the new Gazebo and Gazebo Classic, it's best to use Gazebo Fortress since the newer versions will automatically uninstall Gazebo Classic. With that being said, the concepts covered by the tutorial should work with newer versions of ROS 2 and Gazebo.


[ __ ](/questions/) |


[ ROS plugin to control Actors in Gazebo Simulation  Read time 4 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/642ead64f8ce14006b1b18ae_actor_gazebo_ros.jpg)
](/blog/ros-plugin-to-control-actors-in-gazebo-simulation)


You can install Gazebo either from source or from pre-build Ubuntu debians.


When i send complete sdf modem from cmnd lien with spawn_entity, it launched
in gazebo. I am trying it on crystal.


Labels


As you may know, we at Black Coffee Robotics love Gazebo and [ writ
](https://blackcoffeerobotics.com/blog/migration-from-gazebo-classic-to-
ignition-with-ros-2) e [ quite ](https://blackcoffeerobotics.com/blog/ros-
plugin-to-control-actors-in-gazebo-simulation) [ frequently
](https://blackcoffeerobotics.com/blog/simulations-for-mobile-robots) [ about
it ](https://blackcoffeerobotics.com/blog/gazebo-projection-of-occupancy-maps)
. Weâve completed many varied and complex robotics projects in the past, and
the starting point for most of these projects was a gazebo simulation. Weâve
successfully simulated drones, boats, robot arms, and even fleets of 100+ AMRs
in Gazebo.


[ **updated 2019-03-13 15:50:06 -0500  ** ](/answers/314681/revisions/)


[ none ](/questions/scope:all/sort:activity-desc/tags:none/page:1/) ×


If you installed from debian/ubuntu binary packages it should say:


Adjusting time to get the camera facing the model


![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64b5286fcbe1d79cfdece5d1_output_1_.gif)


  * sdf: spawn model to Gazebo
    * [ https://github.com/atinfinity/megarover_samples_ros2/blob/main/launch/vmegarover_with_sample_world.launch.py ](https://github.com/atinfinity/megarover_samples_ros2/blob/main/launch/vmegarover_with_sample_world.launch.py)
  * xacro or URDF: robot_state_publisher
    * [ https://github.com/atinfinity/megarover_samples_ros2/blob/main/launch/robot_state_publisher.launch.py ](https://github.com/atinfinity/megarover_samples_ros2/blob/main/launch/robot_state_publisher.launch.py)


Since this is a model specific plugin, we will replace it with the DiffDrive plugin. We will match the parameters of libgazebo_ros_diff_drive as much as possible, but exact match may not be possible. For example, the original plugin has a max_wheel_acceleration, but gz-sim-diff-drive-system has max_linear_acceleration instead, which are not equivalent; the latter is a limit on the whole vehicle's linear acceleration. We can approximate the value by multiplying the wheel acceleration limit by the radius of the wheel. Refer to the DiffDrive class reference for details on each parameter. Here's the full <plugin> tag with comments describing the mapping from the original plugin.


[ **answered 2021-03-29 19:22:19 -0500  ** ](/answers/374963/revisions/)


    ros2 launch gazebo_ros gazebo.launch.py
    ros2 run gazebo_ros spawn_entity.py -file $HOME/dev_ws/src/urdf_tutorial/urdf/05-visual.urdf -entity 05


git checkout -b new_gazebo
The changes we need to make are:


start_gazebo_ros_bridge_cmd = Node(
    package='ros_gz_bridge',
    executable='parameter_bridge',
    arguments=[
        '--ros-args',
        '-p',
        f'config_file:={bridge_params}',
    ],
    output='screen',
)
You might have noticed that in the bridge parameters, we did not include the camera/image_raw topic. While it is possible to bridge the image topic in a similar manner as all the other topics, we will make use of a specialized bridge node, ros_gz_image, which provides a much more efficient bridge for image topics. We'll add the following snippet to turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py:


##  Question Tools


[ ](https://github.com "GitHub") © 2024 GitHub, Inc.


**Expected behavior**


ld.add_action(set_env_vars_resources)
We are now ready to test the launch file. Comment out ld.add_action(spawn_turtlebot_cmd) and run:


We will replace this plugin as well with JointStatePublisher. The parameters are mostly similar, however, the <update_rate> parameter is not supported. Here's the full <plugin> tag with comments describing the mapping from the original plugin.


Hope this helps.


Source the catkin setup.bash if it's not already in your .bashrc


<link name="imu_link">
  <sensor name="tb3_imu" type="imu">
    <always_on>true</always_on>
    <update_rate>200</update_rate>
    <topic>imu</topic>
    <imu>
      ... <!-- all the content of <imu> -->
    </imu>
  </sensor>
</link>
libgazebo_ros_ray_sensor.so
Plugin in the original model


Launch the world
We now need to edit turtlebot3_gazebo/launch/empty_world.launch.py and replace any use of gazebo_ros_pkgs. You can find the Gazebo Classic empty world launch file before editing here, and the updated Gazebo empty world launch file here. First replace the call to get_package_share_directory to find ros_gz_sim. The code will change from:


gzserver_cmd = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
    ),
    launch_arguments={'gz_args': ['-r -s -v4 ', world], 'on_exit_shutdown': 'true'}.items()
)
This uses the gz_sim.launch.py launch file from the ros_gz_sim package. The launch file takes the gz_args argument which is a list of command line flags that will be passed to ign gazebo (gz sim in Garden and later). -s causes only the Gazebo server to run without the GUI client and -r tells Gazebo to start running simulation immediately. Lastly, we are using the -v4 flag which sets the verbosity level of Gazebo's console output.


<joint name="wheel_right_joint" type="revolute">
  <parent>base_link</parent>
  <child>wheel_right_link</child>
  <pose>0.0 -0.144 0.023 -1.57 0 0</pose>
  <axis>
    <xyz>0 0 1</xyz>
    <limit>
      <effort>20</effort> <!-- from <wheel_torque> in libgazebo_ros_diff_drive.so.-->
    </limit>
  </axis>
</joint>
libgazebo_ros_joint_state_publisher.so
Plugin in the original model


None yet


[ **answered 2022-02-15 03:48:38 -0500  ** ](/answers/396189/revisions/)


The entity name will be the name of your model within gazebo, so feel free to
change "my_cam_bot" to whatever you want. It will automatically spawn at the
origin, so if you do not want this, you can check out the other parameters
here: [ https://github.com/ros-
simulation/gazebo_ros_pkgs/blob/foxy/gazebo_ros/scripts/spawn_entity.py#L51
](https://github.com/ros-
simulation/gazebo_ros_pkgs/blob/foxy/gazebo_ros/scripts/spawn_entity.py#L51)


Seen: **8,496 times**


  <!-- kinematics -->
  <wheel_separation>0.287</wheel_separation>
  <wheel_radius>0.033</wheel_radius> <!-- computed from <wheel_diameter> in the original plugin-->


|  [ Ask Your Question ](/questions/ask/)
---|---|---|---

2


[ ROS: Why What and How.  Read time 5 mins  ![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/63f633f92da6c307d732a5db_ros1logo.png)
](/blog/ros-why-what-and-how)


[ cannot import interpreter ](/question/316468/cannot-import-interpreter/)


  * Launch the Gazebo client only

        rosrun gazebo_ros gzclient


Development


Gradually downsizing the model using Collapse


[ [ROS2 Crystal] Minimalistic built from sources
](/question/319587/ros2-crystal-minimalistic-built-from-sources/)


We recommend for these ROS integration tutorials you install ( ` ros-noetic-
desktop-full ` or ` ros-melodic-desktop-full ` ) so that you have all the
necessary packages.


[ Edit
](https://github.com/osrf/gazebo_tutorials/blob/master/ros_installing/tutorial.md)
Version: 1.9+


To provide context, [ Blender ](https://www.blender.org/) is an open-source 3D
creation suite with various modelling, animation, rendering, video editing,
and more tools.


[ ![@bjsowa](https://avatars.githubusercontent.com/u/23124539?s=40&v=4)
](/bjsowa) [ bjsowa ](/bjsowa) mentioned this issue  Jun 12, 2021


<sensor name="camera" type="camera">
  <always_on>true</always_on>
  <visualize>true</visualize>
  <update_rate>30</update_rate>
  <topic>camera/image_raw</topic>
  <gz_frame_id>camera_rgb_frame</gz_frame_id>
  <camera name="intel_realsense_r200">
    <camera_info_topic>camera/camera_info</camera_info_topic>
    ... <!-- all the content of <camera> from the original -->
  </camera>
</sensor>
libgazebo_ros_diff_drive.so
Plugin in the original model


add a comment


[ tags ](/tags/) [ users ](/users/) [ badges ](/badges/)


Copy link


Open


##  Install gazebo_ros_pkgs


[ @newcanopies ](https://github.com/newcanopies) Thank you for your
information. I converted from URDF to SDF to avoid this issue.

---

All reactions


    * [ Actions  Automate any workflow  ](/features/actions)
    * [ Packages  Host and manage packages  ](/features/packages)
    * [ Security  Find and fix vulnerabilities  ](/features/security)
    * [ Codespaces  Instant dev environments  ](/features/codespaces)
    * [ Copilot  Write better code with AI  ](/features/copilot)
    * [ Code review  Manage code changes  ](/features/code-review)
    * [ Issues  Plan and track work  ](/features/issues)
    * [ Discussions  Collaborate outside of code  ](/features/discussions)


[ ](https://github.com/)


Over time we have come up with many optimizations to speed up Gazebo to solve
these problems.


> # nvidia-container-runtimeENV NVIDIA_VISIBLE_DEVICES \
>  ${NVIDIA_VISIBLE_DEVICES:-all}
>  ENV NVIDIA_DRIVER_CAPABILITIES \
>  ${NVIDIA_DRIVER_CAPABILITIES:+$NVIDIA_DRIVER_CAPABILITIES,}graphics


ld.add_action(start_gazebo_ros_bridge_cmd)
ld.add_action(start_gazebo_ros_image_bridge_cmd)
You can find the Gazebo Classic spawn_turtlebot3.launch.py file here, and the updated Gazebo spawn_turtlebot3.launch.py file here.


Asked: ** 2019-02-04 03:42:55 -0500  **


[ edit ](/s/answers/396189/edit/) flag offensive  delete  [ link
](/question/314607/spawn-model-with-ros2-gazebo/?answer=396189#post-id-396189
"permanent link") more


Hi,


    * [ Topics ](/topics)
    * [ Trending ](/trending)
    * [ Collections ](/collections)


  * [ Code  ](/ros-simulation/gazebo_ros_pkgs)
  * [ Issues  ](/ros-simulation/gazebo_ros_pkgs/issues)
  * [ Pull requests  ](/ros-simulation/gazebo_ros_pkgs/pulls)
  * [ Actions  ](/ros-simulation/gazebo_ros_pkgs/actions)
  * [ Projects  ](/ros-simulation/gazebo_ros_pkgs/projects)
  * [ Wiki  ](/ros-simulation/gazebo_ros_pkgs/wiki)
  * [ Security  ](/ros-simulation/gazebo_ros_pkgs/security)
  * [ Insights  ](/ros-simulation/gazebo_ros_pkgs/pulse)


[ How can I run ROS2 nodes in a debugger (e.g. gdb)? ](/question/267261/how-
can-i-run-ros2-nodes-in-a-debugger-eg-gdb/)


  1. Start gazebo:

          gazebo --verbose -s libgazebo_ros_factory.so


To efficiently tackle this issue, we use the [ WorldPlugin
](https://classic.gazebosim.org/tutorials?tut=plugins_world&cat=write_plugin)
provided by Gazebo. This removes the cooldown when you spam the ros service to
spawn or delete models. This is because the plugin provides access to all the
models in the scene and gives us a more direct API to the system. As a result,
we can instantly generate and delete all models with ease.


We are now ready to launch the empty world which spawns the waffle robot and sets up the bridge so that we can communicate with it from ROS 2.


I expected that ` 05-visual.urdf ` spawns in Gazebo world.


add a comment


Sorry, something went wrong.


Out of the three subparts, the ideal method for our use case is the [ Collapse
](https://docs.blender.org/manual/en/latest/modeling/modifiers/generate/decimate.html#collapse)
function, which reduces meshes depending upon a ratio.


    import sys
    import rclpy
    from gazebo_msgs.srv import SpawnEntity

    def request_spawn(xml: str):
        rclpy.init()
        node = rclpy.create_node('spawn_entity')
        client = node.create_client(SpawnEntity, 'spawn_entity')
        if not client.service_is_ready():
            client.wait_for_service()
        request = SpawnEntity.Request()
        request.xml = xml
        future = client.call_async(request)
        rclpy.spin_until_future_complete(node, future)
        if future.result() is not None:
            print('response: %r' % future.result())
        else:
            raise RuntimeError('exception while calling service: %r' % future.exception())
        node.destroy_node()
        rclpy.shutdown()

    if len(sys.argv) < 2:
        print('usage: ros2 run my_package my_node.py -- example.urdf')
        sys.exit(1)

    f = open(sys.argv[1], 'r')
    request_spawn(f.read())


##  Comments


3 participants


[ Reka ](/users/41393/reka/)
31  ●  1  ●  5  ●  4


Query


  * Reducing maximum range
  * Reducing update rate
  * Adjusting angular resolution (ideally set to 1Â°)
  * Set the sample size as a multiple of your maximum range (ideally lower, the better for the Simulation).
\- For instance, if your maximum angular range is 360Â°, set the sample size
to be a factor of 360, say 720 + 1 (to account for zero index) samples.


The world argument will be substituted by launch before running Gazebo. In this launch file, world is a python variable, so it is possible to use python string formatting: gz_args: f'-s -r -v4 {world}'. But if we wanted to use a LaunchConfiguration variable for world, we will need to use a list so that launch will make the substitution for us.


Additional navigation options


Then add to your ` .bashrc ` file a source to the setup scripts:


If you installed from source to the default location it should say:


This dramatically improves the simulation by achieving much higher rendering
frame rates, increases Gazeboâs real-time factor and reduces CPU load.


The Camera sensor will also use a generic plugin that handles all rendering sensors loaded into the world. In the SDF file, we will set the <topic> and tag inside <sensor>, and the <camera_info_topic> inside <camera>, both of which will be used in the ROS bridge later. We will also set the <gz_frame_id> since the default frame id used by the generic plugin in the new Gazebo is different from the default used by libgazebo_ros_camera in Gazebo Classic. The final <sensor> tag should look like:


Sign up for GitHub


Open


sudo apt-get install ros-melodic-gazebo-ros-pkgs ros-melodic-gazebo-ros-control


Screenshot of turtlebot 3 running in Gazebo Classic


Email Address


export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_gazebo empty_world.launch.py
Here's a screenshot of Turtlebot3 running in Gazebo obtained by launching empty_world.launch.py. The Lidar visualization is enabled by adding the "Visualize Lidar" GUI plugin (see tutorial on how to add GUI plugins).


> docker run -it --privileged --net=host \
>  \--name test_image_container \
>  \--env="QT_X11_NO_MITSHM=1" Â \
>  \--env="DISPLAY" Â \
>  \--runtime=nvidia \
>  test_image:latest


echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc


Comparison of two spanning methods


**Screenshots**


For those this works, but model tree is created in gazebo but robot not
visible. Try adding absolute path for mesh in urdf file.


  * Launches the Gazebo server only, in debug mode using GDB

        rosrun gazebo_ros debug


rosservice list


[
![@aihoque2](https://avatars.githubusercontent.com/u/22041268?s=80&u=90d59a002c5000d190f3ae17b63d14a254192999&v=4)
](/aihoque2)


Repositories


Please note: ROS Answers requires javascript to work properly, please enable
javascript in your browser, [ here is how
](https://www.google.com/support/bin/answer.py?answer=23852)


  <!-- wheels -->
  <left_joint>wheel_left_joint</left_joint>
  <right_joint>wheel_right_joint</right_joint>


[ @newcanopies ](https://github.com/newcanopies) I don't use moveit2. So, I
used model file properly as follows.


[ ROS MoveIt Servo with Kinova Arm  Read time 5 mins  ![](https://assets-
global.website-
files.com/63f4a8519ea24e0d8fb02a3d/65cc9efae3f6ef644b5e32a3_kinova_sim.jpg)
](/blog/ros-moveit-servo-with-kinova-arm)


The performance of vision-based algorithms such as image segmentation using
Deep Learning Models or Visual SLAM depends on the amount of light in the
environment, so this method will not be very useful in those cases. If your
use case does not cover vision-based methods of approach, then the above
solution may prove helpful.


[ Hi there! Please sign in ](/account/signin/?next=/question/314607/spawn-
model-with-ros2-gazebo/) [ help ](/help/ "help")


[ about ](/about/) |  [ faq ](/faq/) |  [ help ](/help/ "help") |  [ privacy
policy ](/privacy/) |  [ terms of service ](/terms/)


# Add the action to `ld` toward the end of the file


Sort by »  [ oldest  ](/question/314607/spawn-model-with-
ros2-gazebo/?sort=oldest#sort-top) [ newest  ](/question/314607/spawn-model-
with-ros2-gazebo/?sort=latest#sort-top) [ most voted
](/question/314607/spawn-model-with-ros2-gazebo/?sort=votes#sort-top)


<include>
  <uri>
    https://fuel.gazebosim.org/1.0/OpenRobotics/models/Ground Plane
  </uri>
</include>


On every launch, it is tedious to match the Gazebo Camera to face the model
you are working on in the Simulation.


####  **For Cameras and PointCloud Sensors**


    /usr/bin/gzserver
    /usr/bin/gzclient


    source ~/catkin_ws/devel/setup.bash

    roscore &
    rosrun gazebo_ros gazebo


**Environment (please complete the following information):**


Password


    rosdep update
    rosdep check --from-paths . --ignore-src --rosdistro noetic


A standard practice of creating URDFs for robots is creating CAD files in
software like [ SolidWorks ](https://www.solidworks.com/) or [ Fusion360
](https://www.autodesk.com/campaigns/education/fusion-360) and using their
respective [ URDF converters
](https://wiki.ros.org/sw_urdf_exporter/Tutorials/Export%20an%20Assembly) . In
addition, people import design meshes from popular free model libraries such
as [ 3dWarehouse ](https://3dwarehouse.sketchup.com/?hl=en) and [ GrabCAD
](https://grabcad.com/) .


Based on the ROS2 tutorial: 'Writing a simple service and client (python)' and
the work of clyde, I've created a complete ROS2 python client to spawn an
entity:


[ ![cc-by-sa](/m/default/media/images/cc-by-sa.png?v=28)
](http://creativecommons.org/licenses/by-sa/3.0/legalcode) ROS Answers is
licensed under Creative Commons Attribution 3.0 Content on this site is
licensed under a [ Creative Commons Attribution Share Alike 3.0
](http://creativecommons.org/licenses/by-sa/3.0/legalcode) license.


[ Selecting log level in ROS2 launch file ](/question/311471/selecting-log-
level-in-ros2-launch-file/)


</plugin>
The <wheel_torque> parameter can be realized by setting effort limits on each <joint>. For example:


After making the change, lines 17-21 of package.xml will look like this:


[ .  gazebosim/gazebo-classic#2987  ](/gazebosim/gazebo-classic/issues/2987)


I found related issue.


gzclient_cmd = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
    ),
    launch_arguments={'gz_args': '-g -v4 '}.items()
)
Finally, we need to set the environment variable GZ_SIM_RESOURCE_PATH so Gazebo can know where to find models. See the Finding resource document to learn more about this environment variable. This was not needed for gazebo_ros_pkgs because it used the <export> tag in package.xml to populate a similar environment variable for Gazebo (GAZEBO_MODEL_PATH).


[
![@atinfinity](https://avatars.githubusercontent.com/u/2630323?s=80&u=6c0def0edb80189bdb0fe883b22e93f88f013028&v=4)
](/atinfinity)


Decimate Modifier function in Blender indicating the three methods


[ 808brick ](/users/51297/808brick/)
153  ●  2  ●  9  ●  11


Cancel  Submit feedback


By default, if there are no world plugins specified, Gazebo adds the Physics, SceneBroadcaster, and UserCommands plugins. However, if we specify any plugins at all, Gazebo will assume we want to override the defaults, so will not add any default plugins.
Therefore, we have to add the additional plugins for IMU and Lidar sensors as well as the ones that would have been added by default. We will once again edit turtlebot3_gazebo/worlds/empty_world.world add the following right after <world name="default">.


<plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive">
  <!-- Remove <ros> tag. -->


[ contact@blackcoffeerobotics.com ](mailto:contact@blackcoffeerobotics.com)


[ Sign up for free ](/join?source=comment-repo) **to join this conversation on
GitHub** . Already have an account? [ Sign in to comment
](/login?return_to=https%3A%2F%2Fgithub.com%2Fros-
simulation%2Fgazebo_ros_pkgs%2Fissues%2F1236)


[ Unit Tests for Robotics Software: Quality over Quantity  Read time: 5 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/6571c648f6a21b27d239fb73_path_follower%20\(1\).jpg)
](/blog/unit-tests-for-robotics-software-quality-over-quantity)


**Description**


[ Simulations for mobile robots  Read time 5 mins  ![](https://assets-
global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64035b16422e3a2855bb5668_anim-opt.gif)
](/blog/simulations-for-mobile-robots)


[ Localization for Warehouse Autonomous Robots  Read time 6 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/6403a4a2a2b653579951dab3_warehouse_cov.gif)
](/blog/localization-for-warehouse-autonomous-robots)


![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64b52731f419e782ea8e7d10_1*6jnZV7heHPE1ANTWjyDVPg.gif)


start_gazebo_ros_image_bridge_cmd = Node(
    package='ros_gz_image',
    executable='image_bridge',
    arguments=['/camera/image_raw'],
    output='screen',
)
Finally, we will add all new the actions to the list of LaunchDescriptions returned by the generate_launch_description function


July 22, 2023


    import os
    from ament_index_python.packages import get_package_share_directory
    from launch import LaunchDescription
    from launch.actions import DeclareLaunchArgument
    from launch.substitutions import LaunchConfiguration
    from launch_ros.actions import Node

    def generate_launch_description():

      use_sim_time = LaunchConfiguration('use_sim_time', default='false')
      urdf_file_name = 'urdf/camera_bot.xacro'

      print("urdf_file_name : {}".format(urdf_file_name))

      urdf = os.path.join(
          get_package_share_directory('ros2_sim_pkg'),
          urdf_file_name)

      return LaunchDescription([

            DeclareLaunchArgument(
                'use_sim_time',
                default_value='false',
                description='Use simulation (Gazebo) clock if true'),
            Node(
                package='robot_state_publisher',
                executable='robot_state_publisher',
                name='robot_state_publisher',
                output='screen',
                parameters=[{'use_sim_time': use_sim_time}],
                arguments=[urdf])
      ])


[ ROS: CoreÂ concepts  Read time 7 mins  ![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/63f633f92da6c307d732a5db_ros1logo.png)
](/blog/ros-core-concepts)


#  Introduction


#  [ROS2] Could not spawn URDF model  #1236


[ BLOG ](/blog) CONTACT US


#  Provide feedback


These meshes imported have a very high face count and are not optimised for
launch in Gazebo. The more complex mesh you spawn in Gazebo, the greater the
computational time needed to determine potential collisions and rendering.
Therefore, it is always good practice to downscale any mesh you import into
the simulator.


####  Table of Contents


source /opt/ros/humble/setup.bash
mkdir -p ~/turtlebot3_ws/src
cd ~/turtlebot3_ws/src
git clone -b d16cdbe https://github.com/ROBOTIS-GIT/turtlebot3_simulations/
Install dependencies using rosdep


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 check version of Gazebo run:


check your ` ~/.gazebo/client-xxxx ` for a ` default.log ` file. it should
contain your issue. What helped me was moving my package into `
~/.gazebo/models/ ` directory, and I wonder how we do that in the ros2 launch
file.

---

All reactions


* [ ROS Noetic ](http://ros.org/wiki/noetic) :


One recurring challenge that we faced was Gazebo being slow and
computationally heavy. Running your robot in a slow simulation environment has
a lot of downsides. These include the following issues:


These instructions are for using the Gazebo versions that are fully integrated
with ROS [ Noetic ](http://www.ros.org/wiki/noetic) , [ Melodic
](http://www.ros.org/wiki/melodic) and ROS. It is recommended to first read [
Which combination of ROS/Gazebo version to use
](/tutorials/?tut=ros_wrapper_versions) before going on with this tutorial.
Depending on your needs, you could need an alternative installation.


[
![@atinfinity](https://avatars.githubusercontent.com/u/2630323?s=80&u=6c0def0edb80189bdb0fe883b22e93f88f013028&v=4)
](/atinfinity)


##  Comments


  * [ Code  ](/ros-simulation/gazebo_ros_pkgs)
  * [ Issues  271  ](/ros-simulation/gazebo_ros_pkgs/issues)
  * [ Pull requests  94  ](/ros-simulation/gazebo_ros_pkgs/pulls)
  * [ Actions  ](/ros-simulation/gazebo_ros_pkgs/actions)
  * [ Projects  0  ](/ros-simulation/gazebo_ros_pkgs/projects)
  * [ Wiki  ](/ros-simulation/gazebo_ros_pkgs/wiki)
  * [ Security  ](/ros-simulation/gazebo_ros_pkgs/security)
  * [ Insights  ](/ros-simulation/gazebo_ros_pkgs/pulse)


##  Use saved searches to filter your results more quickly


  * Launch both the server and client together

        rosrun gazebo_ros gazebo


However, as shown in the above demonstration, there is a slight tradeoff in
collision checking. In addition, if your algorithm depends on accurately
determining the contours of the said object in question, then it is a good
idea not to reduce the Collapse ratio significantly.


    $ ros2 run gazebo_ros spawn_entity.py -file $HOME/dev_ws/src/urdf_tutorial/urdf/05-visual.urdf -entity 05
    [INFO] [1613667021.959447709] [spawn_entity]: Spawn Entity started
    [INFO] [1613667021.960142006] [spawn_entity]: Loading entity XML from file /home/dandelion/dev_ws/src/urdf_tutorial/urdf/05-visual.urdf
    [INFO] [1613667021.962618085] [spawn_entity]: Waiting for service /spawn_entity, timeout = 5
    [INFO] [1613667021.963103341] [spawn_entity]: Waiting for service /spawn_entity
    [INFO] [1613667021.967460842] [spawn_entity]: Calling service /spawn_entity
    [INFO] [1613667022.131465118] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [05]


sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control


# gz topic published by Sensors plugin (Camera)
- ros_topic_name: "camera/camera_info"
  gz_topic_name: "camera/camera_info"
  ros_type_name: "sensor_msgs/msg/CameraInfo"
  gz_type_name: "gz.msgs.CameraInfo"
  direction: GZ_TO_ROS
The completed yaml file can be found here. Each entry in the yaml file has a ROS topic name, a Gazebo topic name, a ROS data/message type, and a direction which indicates which way messages flow. We will need to update the CMakeLists.txt file to install the new params directory we created. The CMake install command should look like


add a comment


  <odom_topic>odom</odom_topic> <!-- from <odometry_topic> -->
  <frame_id>odom</frame_id> <!-- from <odometry_frame> -->
  <child_frame_id>base_footprint</child_frame_id> <!-- from <robot_base_frame> -->
  <odom_publisher_frequency>30</odom_publisher_frequency> <!-- from <update_rate>-->


![LinkedIn Share](https://assets-global.website-
files.com/5e7b3ab65e9f113eadf770b4/63fee6764dc16b62ab28a7c2_linkedinshare.png)
![Twitter share icon](https://assets-global.website-
files.com/5e7b3ab65e9f113eadf770b4/63fee44ee101659b03501b2c_twittershareicon.png)


[ Webots with ROS: Simulation Overview  Read time 4 mins  ![](https://assets-
global.website-
files.com/63f4a8519ea24e0d8fb02a3d/6481d2dec9c02d08e0b8454f_webots_mapping.png)
](/blog/webots-with-ros-simulation-overview)


[ rosbag2 doesn't write meta data file ](/question/397687/rosbag2-doesnt-
write-meta-data-file/)


<include>
  <uri>
    https://fuel.gazebosim.org/1.0/OpenRobotics/models/Sun
  </uri>
</include>
For reference, you can find the Gazebo Classic empty world here, and the updated new Gazebo empty world here. Relaunching empty_world.launch.py should now start the simulator successfully.


[ clyde ](/users/28405/clyde/)
1247  ●  27  ●  54  ●  51


#  Search code, repositories, users, issues, pull requests...


  * OS: Ubuntu 20.04
  * Gazebo version: Gazebo 11.3.0
  * ROS version: ROS2 foxy
  * gazebo_ros_pkgs: debian install
  * glx server in use: output from ` glxinfo | grep 'server glx vendor' ` (glxinfo is in mesa-utils package for Debian/Ubuntu)


![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64b5273153f53e9be8777a79_1*t4kkXgSgV_dzAvGo9WKDzw.png)


##  Stats


##  4  Answers


Already on GitHub? [ Sign in ](/login?return_to=%2Fros-
simulation%2Fgazebo_ros_pkgs%2Fissues%2Fnew%2Fchoose) to your account


ros_gz_sim = get_package_share_directory('ros_gz_sim')
Next, change gzserver_cmd to use ros_gz_sim


Make sure ` git ` is installed on your Ubuntu machine:


Sorry, something went wrong.


gazebo


The site is read-only. Please transition to use Robotics Stack Exchange


[ https://github.com/ros-simulation/gaz... ](https://github.com/ros-
simulation/gazebo_ros_pkgs/wiki/ROS-2-Migration:-Spawn-and-delete)


In addition, you can further limit aesthetic features in your simulation by
removing the origin visual and embedded grid in the default world provided.
This tip will trade off a bit of aesthetics for performance, so you should
skip this while recording your next viral demo video.


##  Contact Us


If applicable, add screenshots to help explain your problem.


The Gazebo GUI should appear with nothing inside the viewing window.


    import sys
    import rclpy
    from gazebo_msgs.srv import SpawnEntity

    from rclpy.node import Node

    class MinimalClientAsync(Node):

        def __init__(self):
            super().__init__('spawn_entity')
            self.client = self.create_client(SpawnEntity, 'spawn_entity')
            while not self.client.wait_for_service(timeout_sec=1.0):
                self.get_logger().info('service not available, waiting again...')
            self.req = SpawnEntity.Request()

        def send_request(self):
            self.req.name = str(sys.argv[1])
            self.req.xml = str(sys.argv[2])
            self.future = self.client.call_async(self.req)

    def main(args=None):
        rclpy.init(args=args)

        minimal_client = MinimalClientAsync()
        minimal_client.send_request()

        while rclpy.ok():
            rclpy.spin_once(minimal_client)
            if minimal_client.future.done():
                try:
                    response = minimal_client.future.result()
                except Exception as e:
                    minimal_client.get_logger().info(
                        'Service call failed %r' % (e,))
                else:
                    minimal_client.get_logger().info(


Migrating other files in turtlebot3_gazebo
This tutorial does not cover all aspects of migrating models and launch files from Gazebo classic. The following is a list of useful resources that cover other aspects, such as migrating Gazebo Classic plugins, materials and textures.


Explore


[ Leander D'Souza  ](https://www.linkedin.com/in/lsd)


  * [ replace mesh with box  ros2/demos#349  ](https://github.com/ros2/demos/pull/349)
  * [ Cannot spawn mesh data in XML file using Spawn_Entity.py  #1191  ](https://github.com/ros-simulation/gazebo_ros_pkgs/issues/1191)


Example usage :


If your work involves developing large or intricate simulations and your
system needs a performance boost â [ reach out to us
](https://blackcoffeerobotics.com/#contact) !


Assignees


We read every piece of feedback, and take your input very seriously.


Be sure to always source the appropriate ROS setup file, which for Noetic is
done like so:


###  A. Install Pre-Built Debian\Ubuntu binary packages


To see where you installed Gazebo, and if it is in the correct location, run:


[
![@newcanopies](https://avatars.githubusercontent.com/u/65022111?s=40&u=71403f25012a9b1099c49f41b065b7ca2f1d943d&v=4)
](/newcanopies) [ newcanopies ](/newcanopies) mentioned this issue  May 3,
2021


This seems like little, but when cascaded between hundreds of obstacles, this
will significantly impede the loading time of your simulation as well as the
logical aspect of it.


None yet


![contact@blackcoffeerobotics.com](https://assets-global.website-
files.com/5e7b3ab65e9f113eadf770b4/5e7b549cf803a25889973e2d_email.png)


libgazebo_ros_imu_sensor.so
Plugin in the original model


[ Powered by Askbot version 0.10.2 ](http://askbot.com)


For more details see the [ Create A Catkin Workspace
](http://www.ros.org/wiki/catkin/Tutorials/create_a_workspace) tutorial.


Make sure to use minimal light sources as long as your perception algorithms
perform optimally. Only proceed to add sources of directional light if you
cannot modify the default Sun modelâs range and attenuation parameters to
achieve your end cause.


[ edit ](/questions/314607/edit/) [ retag ](/s/questions/314607/retag/) flag
offensive  [ close ](/questions/314607/close/) merge  delete


from launch.actions import AppendEnvironmentVariable
and create a launch action that appends the environment variable with the location of the models directory in turtlebot3_gazebo.


<plugin filename="gz-sim-joint-state-publisher-system"
  name="gz::sim::systems::JointStatePublisher">
  <topic>joint_states</topic> <!--from <ros><remapping> -->
  <joint_name>wheel_left_joint</joint_name>
  <joint_name>wheel_right_joint</joint_name>
</plugin>
World plugins
As mentioned earlier, sensors are handled by generic world level plugins.


In addition, several other controllable levers in the Gazebo ecosystem can
improve performance. However, such changes can be specific to the simulated
robotic system. For example, improving the performance of a robot arm while
maintaining the necessary physics update would be different from simulating a
3D LiDAR in an outdoor scene.


I have this same issue on the same Environment.


Screenshot of turtlebot 3 running in Gazebo


There are several ` rosrun ` commands for starting Gazebo:


  * [ Terms ](https://docs.github.com/site-policy/github-terms/github-terms-of-service)
  * [ Privacy ](https://docs.github.com/site-policy/privacy-policies/github-privacy-statement)
  * [ Security ](/security)
  * [ Status ](https://www.githubstatus.com/)
  * [ Docs ](https://docs.github.com/)
  * [ Contact ](https://support.github.com?tags=dotcom-footer)
  * Manage cookies
  * Do not share my personal information


Downscale from 361 to 91 samples of maximum angular range.


**To Reproduce**


* Product


  * [ Notifications ](/login?return_to=%2Fros-simulation%2Fgazebo_ros_pkgs)
  * [ Fork  761  ](/login?return_to=%2Fros-simulation%2Fgazebo_ros_pkgs)
  * [ Star  721  ](/login?return_to=%2Fros-simulation%2Fgazebo_ros_pkgs)


![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64b527317cecc42ec57edbd0_1*-aSvjT7QKVM31_xyjSYVKg.png)


All reactions


The set of ROS packages for interfacing with Gazebo are contained within a new
meta package (catkin's version of stacks) named ` gazebo_ros_pkgs ` . See [
Overview of new ROS integration ](/tutorials/?tut=ros_overview) for background
information before continuing here.


####  Test that stand-alone Gazebo works


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:


Similar to the IMU, we will use a generic plugin loaded into the world for handling all rendering sensors, which includes Lidar sensors. Currently the ray sensor type, which meant to use the physics engine for generator the sensor data, is not supported in the new Gazebo, we will need to update it to gpu_lidar. We'll also need to change the <ray> tag inside <sensor> to <lidar>. The frame_name parameter of the plugin will be handled by setting the gz_frame_id parameter in <sensor>. Lastly, we'll set the <topic> parameter similar to the IMU sensor. The final <sensor> tag for the Lidar should look like:


[ Our DevOps pipeline for a heterogeneous fleet of robots  Read time 4 mins
![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/640377df8a898d9b070ce13a_devopsmedium2.png)
](/blog/our-devops-pipeline-for-a-heterogeneous-fleet-of-robots)


[ Sign up
](/signup?ref_cta=Sign+up&ref_loc=header+logged+out&ref_page=%2F%3Cuser-
name%3E%2F%3Crepo-
name%3E%2Fvoltron%2Fissues_fragments%2Fissue_layout&source=header-
repo&source_repo=ros-simulation%2Fgazebo_ros_pkgs)


You can also verify the Gazebo services exist:


* Install the following drivers in your Dockerfile:


[ ROS1 robots in a ROS2 world  Read time 3 mins  ![](https://assets-
global.website-
files.com/63f4a8519ea24e0d8fb02a3d/6403989d7d01f7212c247a19_ros12bridge.png)
](/blog/ros1-robots-in-a-ros2-world)


[ Gazebo: Projection of Occupancy Maps  Read time 5 mins  ![](https://assets-
global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64036b3f6fa970bc6e2d51e7_gzcover.png)
](/blog/gazebo-projection-of-occupancy-maps)


####  **For LiDAR sensors**


[ ![ROS Answers logo](/m/ros/media/images/logoros.png?v=28) ](/questions/)


# gz topic published by the simulator core
- ros_topic_name: "clock"
  gz_topic_name: "clock"
  ros_type_name: "rosgraph_msgs/msg/Clock"
  gz_type_name: "gz.msgs.Clock"
  direction: GZ_TO_ROS


A simplistic model was chosen to downscale for a more pronounced effect;
however, in reality, robot meshes and design meshes have a lot of faces to
begin with.


    cd ~/catkin_ws/
    catkin_make


~/ws_ROS2/src/urdf_tutorial$ ros2 run gazebo_ros spawn_entity.py -file
$HOME/ws_ROS2/src/urdf_tutorial/urdf/05-visual.urdf -entity 05


**Read more**


[ ![clyde gravatar image](/upfiles/avatars/clyde/resized/32/headshot.jpg)
](/users/28405/clyde/)


source /opt/ros/noetic/setup.bash


    /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


#  Installing gazebo_ros_pkgs (ROS 1)


[ Back ](/tutorials?cat=connect_ros)


###  Choosing the right hardware specifications to emulate


    * [ CI/CD & Automation ](/solutions/ci-cd/)
    * [ DevOps ](/solutions/devops/)
    * [ DevSecOps  ](https://resources.github.com/devops/fundamentals/devsecops/)


![](https://assets-global.website-
files.com/63f4a8519ea24e0d8fb02a3d/64b52731a94b48cb24d5a228_1*8bIyxSg8ycEY1sSkDhc0gQ.png)


[ Sign in ](/login?return_to=https%3A%2F%2Fgithub.com%2Fros-
simulation%2Fgazebo_ros_pkgs%2Fissues%2F1236)


* [ ROS Melodic ](http://ros.org/wiki/melodic) :


* Finally, configure your container to use Intel GPU Drivers:


These are obtained by expanding the GUI section of the left World Tab and
noting down the camera pose values.


Whether you are trying to mimic an AMR, AGV, or a Robotic Arm, it is
imperative to determine which hardware properties of a real-life sensor you
want to emulate in Gazebo. The true bottleneck arises in simulating cameras,
pointclouds, and laser scans.


These instructions require the use of the [ catkin
](http://www.ros.org/wiki/catkin) build system.


A simplistic way to spawn and delete models is to use the [ SpawnModel
](https://docs.ros.org/en/noetic/api/gazebo_msgs/html/srv/SpawnModel.html) and
[ DeleteModel
](https://docs.ros.org/en/noetic/api/gazebo_msgs/html/srv/DeleteModel.html)
services provided by Gazebo ROS API.


[ **asked 2019-02-04 03:42:55 -0500  ** ](/questions/314607/revisions/)


By clicking “Sign up for GitHub”, you agree to our [ terms of service
](https://docs.github.com/terms) and [ privacy statement
](https://docs.github.com/privacy) . We’ll occasionally send you account
related emails.


[ ![poonam1120 gravatar
image](//www.gravatar.com/avatar/bf885637e4856f27e8510e2b2a4fbaa3?s=32&d=identicon&r=PG)
](/users/38719/poonam1120/)


[ Unity and ROS: Keeping it real  Read time 4 mins  ![](https://assets-
global.website-
files.com/63f4a8519ea24e0d8fb02a3d/6403a2147ad4e057dfba6e2f_unityorch-0.png)
](/blog/unity-and-ros-keeping-it-real)


Except where otherwise noted, the gazebosim.org web pages are licensed under Creative Commons Attribution 3.0.


cd ~/turtlebot3_ws
colcon build --symlink-install
source ~/turtlebot3_ws/install/setup.bash


* [ ros2 ](/questions/scope:all/sort:activity-desc/tags:ros2/page:1/)


Noetic is using the gazebo 11.x series, start by installing it:


Thanks.


Toggle navigation


The methods mentioned here can only be applied for some use cases, as most
optimizations are weighed against sensor accuracy and aesthetic design. So,
choose the methods here that match your use case.


##  Prerequisites


First, import AppendEnvironmentVariable


Author


[
![@newcanopies](https://avatars.githubusercontent.com/u/65022111?s=80&u=71403f25012a9b1099c49f41b065b7ca2f1d943d&v=4)
](/newcanopies)


#  5 Ways to Speedup Gazebo Simulations


[ Sign in ](/login?return_to=https%3A%2F%2Fgithub.com%2Fros-
simulation%2Fgazebo_ros_pkgs%2Fissues%2F1236)


> apt-get -y install libgl1-mesa-glx libgl1-mesa-dri


# gz topic published by IMU plugin
- ros_topic_name: "imu"
  gz_topic_name: "imu"
  ros_type_name: "sensor_msgs/msg/Imu"
  gz_type_name: "gz.msgs.IMU"
  direction: GZ_TO_ROS


> docker run -it --privileged --net=host \ Â Â
>  \--name test_image_container \
>  \--env="QT_X11_NO_MITSHM=1" Â \
>  \--env="DISPLAY" Â \
>  \--volume=/tmp/.X11-unix:/tmp/.X11-unix \
>  \--device=/dev/dri:/dev/dri \
>  test_image:latest


Note: Since the name of the project has gone through two major changes, we highly recommend you read the history of the project to have a better understanding of the terminology used in this tutorial and elsewhere. As a convention we refer to older versions of Gazebo, those with release numbers like Gazebo 9 and Gazebo 11 as "Gazebo Classic." Newer versions of Gazebo, formerly called "Ignition", with lettered releases names like Harmonic, are referred to as just "Gazebo" in this document. This tutorial will show how to migrate an existing ROS 2 package that uses the gazebo_ros_pkgs package to the new ros_gz. We will use the turtlebot3_simulations package as an example. The complete, migrated version of turtlebot3_simulations covered in this tutorial, can be found in this fork.


The ` gazebo_ros_pkgs ` packages are available in:


[ ros2 run - symbol not found on custom msg ](/question/326008/ros2-run-
symbol-not-found-on-custom-msg/)


    /usr/local/bin/gzserver
    /usr/local/bin/gzclient


â


Projects


##  Testing Gazebo with ROS Integration


Milestone


Now jump to the  build the gazebo_ros_pkgs  section.


gazebo --version


Once, we're sure that the Gazebo classic simulation is running properly, we create a new branch in which we'll make the changes to migrate to the new Gazebo.


  * [ Tutorials ](/tutorials)
  * [ Download ](/download)
  * [ Blog ](/blog.html)
  * [ Media ](/media)
  * [ Projects ](/projects)


    * [ All features ](/features)
    * [ Documentation  ](https://docs.github.com)
    * [ GitHub Skills  ](https://skills.github.com/)
    * [ Blog  ](https://github.blog)


sudo apt-get install git


Open


To build the Gazebo ROS integration packages, run the following commands:


First time here? Check out the FAQ!


Sorry, something went wrong.


It is also now possible to do the SLAM and Navigation tutorials from the Turtlebot3 manual (make sure to select the Humble tab). However, it requires updating turtlebot3_world.world and turtlebot3_world.launch.py files according what we've discussed in this tutorial. For reference, those files have also been migrated in this fork.


[ edit ](/s/answers/314681/edit/) flag offensive  delete  [ link
](/question/314607/spawn-model-with-ros2-gazebo/?answer=314681#post-id-314681
"permanent link") more


These are very minimal steps and good practices that can be applied to your
Gazebo world.


    [INFO] [1620056439.733433900] [spawn_entity]: Spawn Entity started
    [INFO] [1620056439.734061900] [spawn_entity]: Loading entity XML from file /home/user/ws_ROS2/src/urdf_tutorial/urdf/05-visual.urdf
    [INFO] [1620056439.738093900] [spawn_entity]: Waiting for service /spawn_entity, timeout = 30
    [INFO] [1620056439.739691600] [spawn_entity]: Waiting for service /spawn_entity
    [INFO] [1620056439.752784100] [spawn_entity]: Calling service /spawn_entity
    [INFO] [1620056439.923853000] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [05]


##  Other ROS Ways To Start Gazebo


Copy link


##  Efficient Spawning and Deletion of Models


You can automatically install the missing dependencies using rosdep via debian
install:


  1. Some time-sensitive control algorithms donât work correctly or give an unstable result in a low real-time factor.
  2. Difficulty in scaling to multiple robots (in case of fleets of robots) or more complex environmental features.
  3. Difficulty in development with low-powered laptops.
  4. Less visually appealing simulations due to frame rate drop.


  *[
              2019-02-04 03:42:55 -0500
             ]: 2019-02-04 03:42:55 -0500
  *[
              2022-02-15 03:48:38 -0500
             ]: 2022-02-15 03:48:38 -0500
  *[
              2022-02-15 03:53:54 -0500
             ]: 2022-02-15 03:53:54 -0500
  *[
              2021-03-29 19:22:19 -0500
             ]: 2021-03-29 19:22:19 -0500
  *[
             2022-08-30 21:55:20 -0500
            ]: 2022-08-30 21:55:20 -0500
  *[
              2019-03-13 13:21:02 -0500
             ]: 2019-03-13 13:21:02 -0500
  *[
              2019-02-04 11:30:17 -0500
             ]: 2019-02-04 11:30:17 -0500
  *[
              2019-03-13 15:50:06 -0500
             ]: 2019-03-13 15:50:06 -0500
  *[
        2019-02-04 03:42:55 -0500
       ]: 2019-02-04 03:42:55 -0500
  *[
        2024-04-14 18:33:55 -0500
       ]: 2024-04-14 18:33:55 -0500


* Finally, configure your container to use Nvidia GPU Drivers:


I tried to spawn URDF model using gazebo_ros.
But, I could not spawn URDF model.


[ Robot software: Beyond algorithms  Read time 5 mins  ![](https://assets-
global.website-
files.com/63f4a8519ea24e0d8fb02a3d/640375087d01f73442215172_devops.png)
](/blog/robot-software-beyond-algorithms)


<sensor name="hls_lfcd_lds" type="gpu_lidar">
  <always_on>true</always_on>
  <visualize>true</visualize>
  <pose>-0.064 0 0.121 0 0 0</pose>
  <update_rate>5</update_rate>
  <topic>scan</topic>
  <gz_frame_id>base_scan</gz_frame_id>
  <lidar>
    ... <!-- same content as <ray> in the original -->
  </lidar>
</sensor>
libgazebo_ros_camera.so
Plugin in the original model


export TURTLEBOT3_MODEL=waffle
ros2 launch turtlebot3_gazebo empty_world.launch.py
Here's a screenshot of Turtlebot3 running in Gazebo Classic obtained by launching empty_world.launch.py.


...
  <depend>geometry_msgs</depend>
  <depend>nav_msgs</depend>
  <depend>rclcpp</depend>
  <depend>ros_gz_bridge</depend>
  <depend>ros_gz_image</depend>
  <depend>ros_gz_sim</depend>
  <depend>sensor_msgs</depend>
  <depend>tf2</depend>
...
You can find the Gazebo Classic package XML file here, and the updated Gazebo package XML file here.


[ ROS2 support  LeoRover/leo_simulator#5  ](/LeoRover/leo_simulator/issues/5)


**[ atinfinity ](/atinfinity) ** commented  May 4, 2021


![location pin](https://assets-global.website-
files.com/5e7b3ab65e9f113eadf770b4/5e7b549e46049e7283219cfe_location-pin.png)


The message of this command is as follows.


Cancel  Create saved search


[ Careers ](/careers)


If you have a URDF file (note that the syntax for URDF in ROS 2 is slightly
different than ROS 1) in your package that you want to spawn into Gazebo, you
have to do the following:


<tf_topic>/tf</tf_topic> <!-- Short topic name for tf output -->


##  Other Optimizations


install(DIRECTORY launch models params rviz urdf worlds
  DESTINATION share/${PROJECT_NAME}/
)
Finally, we will edit turtlebot3_gazebo/launch/spawn_turtlebot3.launch.py, to create the bridge node:


[ ALL ](/questions/scope:all/sort:activity-desc/page:1/) [ UNANSWERED
](/questions/scope:unanswered/sort:answers-asc/page:1/)


[ atinfinity ](/atinfinity) opened this issue  Feb 18, 2021  · 4 comments


##  Get in touch. Let us know how we can help.


[ ![tfoote gravatar
image](//www.gravatar.com/avatar/3bc6528f8fe1fef6b6ecc7312ee0cf04?s=32&d=identicon&r=PG)
](/users/3/tfoote/)


New issue


    * [ Learning Pathways  ](https://resources.github.com/learn/pathways/)
    * [ White papers, Ebooks, Webinars  ](https://resources.github.com/)
    * [ Customer Stories ](/customer-stories)
    * [ Partners  ](https://partner.github.com/)


    mkdir -p ~/catkin_ws/src
    cd ~/catkin_ws/src
    catkin_init_workspace
    cd ~/catkin_ws
    catkin_make


**[ atinfinity ](/atinfinity) ** commented  May 5, 2021


> <gui>
>  <camera name="gzclient_camera"><pose>1.53 0 2.25 0 0.64
> -3.1414</pose></camera>
>  </gui>


---

👍  1  newcanopies reacted with thumbs up emoji


To use fuel models, replace the include tags for sun and ground_place with


If you do not have a catkin workspace setup, try the following commands:


ROS Resources: [ Documentation ](http://wiki.ros.org/) | [ Support
](http://wiki.ros.org/Support) | [ Discussion Forum
](http://discourse.ros.org/) | [ Index ](http://index.ros.org/) | [ Service
Status ](http://status.ros.org/) | [ ros @ Robotics Stack Exchange
](https://robotics.stackexchange.com/questions/tagged/ros)
---

_Attention:_ Answers.ros.org is deprecated as of August the 11th, 2023. Please
visit [ robotics.stackexchange.com ](http://robotics.stackexchange.com) to ask
a new question. This site will remain online in read-only mode during the
transition and into the foreseeable future. Selected questions and answers
have been migrated, and redirects have been put in place to direct users to
the corresponding questions on Robotics Stack Exchange. Additional details are
[ available here ](https://discourse.ros.org/t/ros-and-gazebo-answers-
migration-to-robotics-stack-exchange-process/31494) .


As you can see below, there is a slight delay in spawning these gazebo models.
This is the same case while deleting the models as well.


####  Clone the Github Repositories


Gazebo is open-source licensed under [ Apache 2.0
](http://www.apache.org/licenses/LICENSE-2.0.html)


###  Pre-requisites:


###  Recent questions tagged ` nav2_bringup ` at **[ Robotics Stack Exchange
](https://robotics.stackexchange.com/) **


####  Authors


#  nav2_bringup


###  Services


[ ![@HovorunB](https://avatars.githubusercontent.com/u/87417416?s=40&v=4)
](/HovorunB)


Example: See [ turtlebot3_gazebo models ](https://github.com/ROBOTIS-
GIT/turtlebot3_simulations/tree/ros2/turtlebot3_gazebo/models) for details


  * [ Install ROS 2 ](https://index.ros.org/doc/ros2/Installation/Dashing/)
  * Install Nav2


Milestone


* Install Navigation2 Bringup


---

[
API Docs ](http://docs.ros.org/en/indigo/api/nav2_bringup/html/ "View API
documentation on docs.ros.org") [
Browse Code ](https://github.com/paulbovbel/nav2_platform/tree/hydro-
devel/nav2_bringup "View source code on repository")


There are two robots including name and intitial pose are hard-coded in the
launch script. Two separated unique robots are required params file ( `
nav2_multirobot_params_1.yaml ` , ` nav2_multirobot_params_2.yaml ` ) for each
robot to bring up.


[ ros-planning ](/ros-planning) /  **[ navigation2 ](/ros-
planning/navigation2) ** Public


* Some discussions about performance improvement of composed bringup could be found here: [ https://discourse.ros.org/t/nav2-composition/22175 ](https://discourse.ros.org/t/nav2-composition/22175) .


Please refer to below examples.


Successful launch


###  Messages


Example: See [ turtlebot3_gazebo ](https://github.com/ROBOTIS-
GIT/turtlebot3_simulations/tree/ros2/turtlebot3_gazebo) for details


    source /opt/ros/dashing/setup.bash
    export TURTLEBOT3_MODEL=waffle
    ros2 launch turtlebot3_bringup turtlebot3_state_publisher.launch.py use_sim_time:=True


###  Source Tutorials


    # Set environment variables
    ld.add_action(stdout_linebuf_envvar)


###  Pre-requisites:


![](/assets/package.png) |


_See[ ROS Wiki Tutorials ](http://wiki.ros.org/nav2_bringup/Tutorials) for
more details. _


CHANGELOG


###  Services


###  Terminal 4: Run RViz with Nav2 config file


_No direct system dependencies._


    # Map fully qualified names to relative ones so the node's namespace can be prepended.
    # In case of the transforms (tf), currently, there doesn't seem to be a better alternative
    # https://github.com/ros/geometry2/issues/32
    # https://github.com/ros/robot_state_publisher/pull/30
    # TODO(orduno) Substitute with `PushNodeRemapping`
    #              https://github.com/ros2/launch_ros/issues/56
    remappings = [('/tf', 'tf'), ('/tf_static', 'tf_static')]