Skip to main content

Questions tagged [gz-sim]

The tag has no usage guidance.

Filter by
Sorted by
Tagged with
1 vote
2 answers
82 views

Gazebo crashes immediately - Segmentation fault (Address not mapped to object [0x220])

I installed ROS2 Jazzy successfully on a laptop running Ubuntu Noble 24.04 with an Intel Xe graphics card, and installed Gazebo Harmonic using: ...
PrattPrakash's user avatar
1 vote
1 answer
27 views

Need for Gazebo plugins and SDF tutorial

I am just beginning to work with Gazebo. I need to create drones models with autotesting and plugins that will communicate with firmware. Also I plan to use genetic algorithm for AI based drones ...
Oleksandr N.'s user avatar
1 vote
0 answers
9 views

Migration from uuv_thruster to gz-sim thruster plugin

I'm facing some difficulties in migrating some code from gazebo-classic to gz-sim. I have an unmanned surface vehicle equipped with four thrusters that receive the target propeller speed as control ...
Tony's user avatar
  • 11
1 vote
2 answers
54 views

What is the best practice to use dynamic names/variables in the sdf files? [closed]

NOTE: This is an open discussion and might not have a particular answer or can have multiple answers. Hello, I was trying to do a multi-robot simulation using ROS 2 humble and GZ-harmonic. I want to ...
aarsht7's user avatar
  • 113
0 votes
1 answer
27 views

ros_gz_sim build from source error with missing lib gflags

While building ros_gz from source on docker with ROS 2 humble, I encountered the following error, so I thought of posting the solution in case someone has the same ...
aarsht7's user avatar
  • 113
0 votes
0 answers
19 views

Is it possible to run the same world on parallel Gazebo simulations?

I'm trying to understand whether it is possible to run parallel simulations of the same world using concurrent instances of Gazebo Servers, and if so how to do it. Is this supported out of the box? ...
Xela95's user avatar
  • 33
0 votes
1 answer
57 views

rviz2 mesh visulization error while using GZ harmonic + ROS 2 humble

I am trying to use gz harmonic with ros2 humble, and I am stuck on rviz2 part. Gazebo and ros_gz_bridge are working well, and I am able to visualize the topics in rviz2 but not the model meshes. I am ...
aarsht7's user avatar
  • 113
0 votes
0 answers
13 views

Does Gazebo have any minimum system requirements like Gazebo-Classic did?

Gazebo-Classic had mimimum system requirements as mentioned here. Does the new Gazebo simulator (Gz Harmonic) have any similar requirements?
PhiloRobotist's user avatar
0 votes
0 answers
10 views

What are the minimum GPU requirements to use a gpu_lidar sensor in Gazebo Harmonic?

Are there any minimum GPU requirements to use the gpu_lidar sensor in Gz Harmonic?
PhiloRobotist's user avatar
0 votes
1 answer
63 views

Gz Harmonic - Is there a Lidar sensor that is meant to be used on a machine without GPU?

I am looking for a Lidar Sensor in Gazebo Harmonic which is meant to be used on a machine without GPU. Is there one? I found from here that the same mightn't exist. But then I found a Lidar.cc file ...
PhiloRobotist's user avatar
0 votes
0 answers
39 views

How to apply a texture in Gazebo Garden?

I'm trying to build my own world for Gazebo Garden, but I'm stuck with texture. I've got one model, the floor. Here is my sdf : ...
SebL's user avatar
  • 51
0 votes
0 answers
32 views

Migrating sensor plugin to gzsim harmonic

I have migrated a custom sensor plugin based on ray sensor (from gazebo classic) to a system plugin based on GPU lidar (gzsim - harmonic). How can I convert this ...
Rômulo Cerqueira's user avatar
0 votes
0 answers
34 views

Gazebo Harmonic: How to access a gz::sensors::CameraSensor object/shared_pointer inside a SystemPlugin?

I have a SystemPlugin that I attached to the sdf of a camera as here. This seemed to work & I could see the gz transport topic publishing the camera image feed. Now, I want to enable/disable the ...
PhiloRobotist's user avatar
2 votes
2 answers
55 views

Is it possible to modify or extend pre-existing Gazebo Sim plugins?

Question Is it possible to modify or extend a pre-existing Gazebo Sim (Garden) plugin, such as the gz-sim-multicopter-control-system plugin to publish the ...
CodeAnomaly's user avatar
1 vote
0 answers
34 views

What is the right way to implement an inverted pendulum controller for real HW and simulation in ROS2 and Gazebo Sim

Context : I have been using ROS in hobby projects for the last 10 years but keep in mind I'm not a professionnal software developper. I would like to step-up my game by implementing a "teen size&...
Luczia's user avatar
  • 21
0 votes
1 answer
39 views

How to get joint position limits in Gazebo

How can I get the joint position limits in (the new) Gazebo? From the migration guide for the Joint API it is listed that the corresponding methods from Gazebo classic are TODO, so I imagine the ECM ...
Xela95's user avatar
  • 33
0 votes
0 answers
14 views

How to set the zero angle of a revolute joint differently from SDF

I would like to set the zero angle of a revolute joint differently from how I define the joint frame in the SDF. For example, take a pendulum constituted by a base link, a revolute joint and a ...
Xela95's user avatar
  • 33
0 votes
1 answer
37 views

How to get link linear velocity expressed in a frame of choice

I'm trying to understand if with Gazebo is possible to get the linear velocity of the link (of its CoM or any other point) expressed in a frame of choice, e.g. its predecessor link frame. I've found ...
Xela95's user avatar
  • 33
0 votes
1 answer
50 views

How to get the joint acceleration in Gazebo?

I'm quite new to Gazebo and I'm trying to access the kinematic properties of a joint during simulation on my custom plugin. While in the official documentation there's a Joint class exposing methods ...
Xela95's user avatar
  • 33
0 votes
1 answer
151 views

How to add custom messages and services to ros_gz_bridge

I would like to add custom messages and services to the gazebo ros bridge. But I am not sure what the best approach would be and miss a bit of documentation on how to achieve this. For the sake of ...
Nyquist's user avatar
  • 204
0 votes
1 answer
196 views

Get robot position wrt world frame in ROS2-Gazebo Garden

I'm trying to understand how I can possibly get the global position of a model in a Gazebo simulation through ROS2. I've seen that Gazebo publishes data to the ...
slim71's user avatar
  • 25
0 votes
1 answer
173 views

How to spawn robot in Gazebo from robot_description topic?

I am trying to launch a Gazebo simulator and spawn a model in the simulator form the /robot_description topic. This already worked sometimes but now I get the ...
aladin6060's user avatar
0 votes
1 answer
149 views

ros_gz_bridge does not publish on ros2 topic

I am running ros_gz_bridge to read some data from Gazebo, in particular I have run: ...
Biagio Trimarchi's user avatar
0 votes
1 answer
39 views

is there a way to transform gz's gz.msgs.Model message to sensor_msgs/JointState?

i am publishing a robot state in gz using the JointStatePublisher plugin, which outputs a gz.msgs.Model message. Is there a simple way to transform this into a sensor_msgs/JointState message or should ...
Stefano Mutti's user avatar
0 votes
1 answer
457 views

Issue with ROS2 Control [Humble] and Gazebo Garden Plugin Loading

I'm currently working on a project where I am trying to use ROS 2 Humble Control in conjunction with Gazebo Garden. However, I am encountering an issue where the plugins are not loading as expected. I ...
Dragon's user avatar
  • 31
0 votes
0 answers
92 views

Gazebo installation problem on Windows

I'm trying to install Gazebo on Windows 10 following these steps: https://gazebosim.org/docs/harmonic/install_windows_src I have completed all the steps in the "Install dependencies" section ...
George Karafotias's user avatar
0 votes
1 answer
40 views

Gazebo JointController only responding intermittently

I have the following (relatively) simple sdf. Some of the numbers are wierd because this was generated from a urdf, but gazebo should only be seeing the sdf content here. ...
jim parker's user avatar
0 votes
0 answers
49 views

VRX with ignition gazebo fortress

I am working on my master thesis project which involves water/waves and a surface vehicle with ros2. I came across https://github.com/osrf/vrx github repo, but the repo is for gazebo garden and ...
Hem92j's user avatar
  • 96
0 votes
1 answer
70 views

Data transfer between `gz::sim::System` plugins

Afaik there are two standard ways of getting data from one gz::sim::System to another: Using Components: one system writes data into a component of an entity, the ...
JRTG's user avatar
  • 2,074
0 votes
1 answer
94 views

Changing size and pose of the geometry of a Gazebo entity from a gz-sim system plugin

Is it possible to change the size and position of the geometry (box shape) of a collision entity and a visual entity, at runtime from a Gazebo sim system plugin? What I intend to try is the following: ...
JRTG's user avatar
  • 2,074