Questions tagged [gz-sim]

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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
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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
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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
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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
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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
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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
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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
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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
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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
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184 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
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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
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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
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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
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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
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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
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