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Igntion Gazebo: How to use ignmsg from a custom plugin (ROS2 Humble)

I've written a custom plugin for igntion gazebo just to see if I'm doing it right. Below is the .cc file of the plugin and its implementation in the sdf file. There is a little section at the end that ...
M1lden's user avatar
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1 answer
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I need to simulate a realsense depth camera in gazebo ignition fortress & connect it with ros 2 humble hawksbill. I can't find any resources for it

Every relevant resource that I was able to find so far seems to be intended for either gazebo classic 11 or ros 1 noetic ninjemys. As far as I understand, there are significant differences between ...
ahiyantra's user avatar
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1 answer
26 views

Sensors on Mobile Links

I've added sensors to the mobile platform of my robot. However, I cannot visualize the sensor information and get the following messages when running the simulation. ...
Bozzer's user avatar
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1 answer
54 views

Gazebo plugin not creating cmd_vel and odom topics in ROS 2 Humble with Gazebo Fortress

I'm facing an issue with my ROS 2 Humble setup using Gazebo Fortress. I have a differential drive robot simulated in Gazebo, and I'm trying to control it via ROS topics cmd_vel and odom. However, I ...
Dragon's user avatar
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What is the water or wave model used in this world environment (Ignition-Gazebo fotress demo)?

I would like to know more information about this water /wave environment ? This is the youtube video of it - https://www.youtube.com/watch?v=VwzGJDHkW8A
vbalaji21's user avatar
1 vote
0 answers
15 views

Gazebo Fortress - Loading Models Problem with Ogre2.2

I’m currently using Gazebo Fortress with the SubT Simulator, and the models in the world are taking up to 10 minutes to load with a medium complexity map. I have the models saved locally in the ...
user40312's user avatar
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17 views

How to subscribe to Gazebo pause/play events from a Ros2 python node

I would like my ROS2 python node to react to pause/play events from the Gazebo simulator. I am using ROS2 Iron and Gazebo Fortress (Ignition). My initial thought was to subscribe to the world stats ...
David Brown's user avatar
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9 views

Gazebo Fortress GUI on a different machine

I am trying to setup a simulation environment like [this][1] with the following variation: I would like to have Gazebo running on one machine (MACHINE A) and access ...
modo's user avatar
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1 vote
0 answers
15 views

How to programmatically change the mass/inertia of a link from an ignition-fortress plugin?

I'm trying to dynamically update the mass of a link, during execution, from a gazebo ignition-fortress plugin. Specifically, I'd like to update the link's mass to a small value. What is the right C++ ...
David Brown's user avatar
0 votes
2 answers
83 views

Can't produce map with namespaced slam-toolbox

I am trying to simulate a robot with a namespace using slam-toolbox but I can't get it to publish a map and I keep getting the message ...
Veronika's user avatar
-1 votes
1 answer
82 views

How to install libraries for plugin development for Gazebo Fortress (Ignition)

I'm trying to write a custom plugin for Gazebo Fortress but facing issues in setting up my development environment. I installed Gazebo Fortress using the Ubuntu binaries as instructed here, but it ...
David Brown's user avatar
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1 answer
175 views

Fail to load Mesh with STL on Gazebo

I try to load my robot sdf file. But Gazebo cannot load my stl mesh and give these errors ...
Uchiwuwu's user avatar
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1 answer
23 views

Question about uri reading urdf in fortress

I have problem with reading my robot URDF file with gazebo. In my worlds.sdf, I put ...
Uchiwuwu's user avatar
1 vote
0 answers
33 views

Implement a new custom sensor in gazebo ignition

I'm trying to implement a new custom sensor in gazebo ignition, more specifically I want to implement a light sensor that will simply output a light value based on the distance between the sensor and ...
Paolo's user avatar
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26 views

Use Gazebo API to connect to already running simulation

My setup consists of two elements: A launch file that brings Gazebo up from a given SDF file. An executable that makes use of the Gazebo API and modifies Entitys ...
Martiño Crespo's user avatar
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0 answers
60 views

Ignition Gazebo Pose Publisher unexpected behaviour

Good afternoon to everyone. I have the following problem: I'm running a simulation with one turtlebot that is able to move simple objects in a rectangular arena. Both the arena and the objects are ...
Paolo's user avatar
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0 answers
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ros2 not found after ros-humble-ros-gz install

I recently created a fresh virtual machine of Ubuntu 22.04 with UTM. I installed Ignition Fortress and ROS Humble with the following command: ...
ibkid's user avatar
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1 vote
1 answer
326 views

Very high CPU usage when running Gazebo in a docker container

I have run into a problem that when I start an empty world with Gazebo (I have tested this with Citadel, Fortress and Harmonic) inside a docker container my CPU usage shoots up to 70%. When I start ...
Veronika's user avatar
0 votes
0 answers
44 views

Ignition Gazebo Not Working

As shown here in this image, my Ignition Gazebo doesn't display anything(grid, world, entites etc.) but a gray background. I have re-installed gazebo several times and it still shows the same. What ...
Bozzer's user avatar
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1 vote
0 answers
108 views

Ground truth robot position from Ignition Gazebo Sim to ROS 2

Gazebo Sim 6.15 (Fortress), ROS 2 Iron. I want to get "ground truth" robot position into ROS, so that I could use it to validate diff_drive odometry (combining it with IMU to detect wheel ...
Mere Loom's user avatar
1 vote
1 answer
113 views

Both binary & source installation failing for ros-gz with ROS2-Iron & Ubuntu Jammy

I'm trying to install ros-gz on my Ubuntu 22.04.3 laptop with ROS2-Iron & Gazebo-fortress already installed (both using binaries). First I ran ...
PhiloRobotist's user avatar
0 votes
1 answer
163 views

Unable to install ros-gz on my Ubuntu 22.04 machine with ROS2 Iron already installed

I have a Ubuntu 22.04 laptop with ROS2 Iron already installed. Now, I am trying to install Gazebo Fortress (as it is the recommended version for my configuration - mentioned here). I ran ...
PhiloRobotist's user avatar
0 votes
1 answer
126 views

Unable to spawn Gazebo from terminal

I installed Gazebo Fortress following the instructions here on my laptop with Ubuntu 22.04. I was able to install it without any problems & I could see the app installed with the name ...
PhiloRobotist's user avatar
0 votes
1 answer
35 views

How to find the plugin which the sensor should use quickly?

I'm a beginner of gazebo.And I am trying to insert sensor plugins in my SDF file.But I don't know which plugin should use in my file. And I don't know how to find the correct [filename] & [name] &...
user37872's user avatar
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0 answers
8 views

Broken apt from ignition-sensors6 unmet dependencies

I want a version of the ignition-sensors6 package that has not yet been released. For that I used make package to generate a package with the name ignition-sensors6....
Mariana Alves's user avatar
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0 answers
103 views

libignition-gazebo-diff-drive-system does create the cmd_vel topic

I am trying to make my own robot, I am using ROS2-humble on Ubuntu 22.04 with gazebo ignition fortress. so I came across this problem where the ...
abdo Salm's user avatar
  • 113
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0 answers
50 views

Can I launch a gazebo classic project in gazebo ignition?

As the title mention, I am working on a gazebo project on gazebo classic. And I made the robot model using urdf and using roslaunch to launch the project. However one of the plugins I planned to use(...
brian2lee's user avatar
  • 119
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0 answers
33 views

Cosimulation in Gazebo Ignition - Setting link states

I am currently interested in running a cosimulation between Gazebo and Chrono since Gazebo has good support for sensor simulations and Chrono has very good vehicle models. So, in theory, Chrono could ...
multiplex's user avatar
0 votes
0 answers
22 views

How can i create a Fire in Ignition Gazebo that can be sensoed by thermal Camera ,and Infrared sensor

what are the options we have to create a fire in world .It must at least look like fire and it must detectable by thermal camera
amin antony's user avatar
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0 answers
39 views

how can i create a fire using Ignition Gazebo

i am trying to create a Fire in our world .we want a real fire it could be detected by thermal camera and also other sensors. I used particle emitter to create fire.But the thermal camera couldn’t ...
amin antony's user avatar
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0 answers
35 views

Gazebo Fortress - Need some help to add the GridConfig to the SDF file

I'm trying to configure the grid size in the SDF file and here is what I have in the SDF file: ...
ryan2718281's user avatar
1 vote
0 answers
143 views

How to simulate a radar(mmWave) sensor in gazebo?

I am trying to simulate mmWave radar sensor in ignition gazebo fortress. I am looking for a plugin for radar sensor. Can anyone guide me further? I am working on a ros2 Humble on Ubuntu 22.04 and ...
Hem92j's user avatar
  • 96
0 votes
2 answers
507 views

ign gazebo failing to load plugin from inside a model (gazebo fortress)

I'm trying to control an imported pioneer model with the old gazebo plugins changed for the ign plugins, but i keep getting the following error: [Err] [SystemLoader.cc:78] Failed to load system plugin ...
M. Almeida's user avatar
0 votes
2 answers
98 views

How to include models from local files into existing world? (ROS2)

I'm trying to include a pioneer model into an existing .sdf world using <include>, but the existing documentation is less than clear about how to do things (and simply using the names of the ...
M. Almeida's user avatar
0 votes
1 answer
422 views

Ignition Gazebo (Fortress) has a worse Real Time Factor (RTF) than Gazebo Classic (11)

I recently started testing Gazebo Fortress and I am currently struggling with the RTF (Real Time Factor). I have a world.sdf which includes four different models and one of them is a ground plane. ...
Usamex's user avatar
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0 votes
1 answer
49 views

Gazebo and Rviz have different velocity when robot_localization package is used

ROS2 Humble, Gazebo Fortress, Gravity in gazebo set to zero. I am trying to fuse IMU and GPS data with robot_localization package. Already went through the following tutorial 1, tutorial 2. I am ...
ASH's user avatar
  • 21
0 votes
2 answers
389 views

Setting frame of IMU message in Gazebo Fortress

I am trying to setup a robot in Gazebo Fortress, under ROS2 Humble in Ubuntu 22.04. This robot has 6 wheels, a lidar and an IMU. I have setup the xacro files and I am able to spawn the robot into ...
clusher's user avatar
0 votes
0 answers
19 views

In ignition fortress, how to get components of an universal joint in system plugins?

I'm having problems in developing a system plugin for Ignition. In the case the robot has a universal joint, creating/updating component data related to the entity, returns something like: ...
Vincenzo Ruotolo's user avatar
0 votes
0 answers
57 views

Robot moves only forward for Twist msgs with angular velocity component

Environment: Ubuntu 22.04, ROS2 Humble, Gazebo Fortress. Installed everything from apt repos I am trying to learn ROS2 navigation2 from scratch and have created a ...
ASH's user avatar
  • 21
1 vote
0 answers
519 views

Best way to implement a swerve drive robot with Ros2 control

I am implementing a swerve drive, also known as a 4 wheel independent steering and independent drive, robot. I am using ROS2 Humble with Gazebo Fortress on Ubuntu Jammy. To control the 4 steering ...
Petrik's user avatar
  • 111
0 votes
0 answers
93 views

moveit_ros_control_interface/Ros2ControlManager crashed when used use_sim_time

My goal is to set the movement to several working groups in Ignition Gazebo. The movement is successful, but to simulate the gazebo, you need to use use_sim_time, but when using it in the following ...
Ярослав Зенин'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
1 vote
0 answers
139 views

Sdf Joint not connecting parent model to included model

for the past month I've been working in an ignition gazebo simulation using SDF file to describe my robot model. Since the robot has some repeated parts I created a different file and included it in ...
amsantos's user avatar
0 votes
0 answers
279 views

Robot tires slipping in Gazebo Ignition. Odometry going wrong hence

I am simulating a 4 wheel differential drive robot in Gazebo Fortress. However, my friction settings seem to be incorrect because my tires slip a lot more than the robot turns and hence my odometry ...
Kaushal Sorte's user avatar
0 votes
1 answer
225 views

Reset Simulation in Gazebo fortress via API

I'm building a RL training environment using Gazebo Fortress and ROS2 Humble. So far I've been creating a new Server instance in between episodes, but it seems like this is not always resetting my ...
Lestes's user avatar
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0 votes
1 answer
31 views

Gazebo fortress won't load once I add Contact plugin

I have this sdf file: ...
user avatar
0 votes
1 answer
45 views

Trying to start gazebo fortress through pybind, undefined symbol - destructor

Since the python bindings for Fortress are quite limited at the moment, I'm trying to write my own for my use case, which is to start a gazebo server, step forward one time-step at a time, pass ...
user avatar
0 votes
1 answer
50 views

Adding environment variable to compile transport code

Hello, I'm writting some piece of code to extract info from gazebo simulations, making use of a topic that is being published in transport. My issue is, using the publisher/subscriber CMakeList.txt ...
user avatar
0 votes
1 answer
110 views

Texture of object loading as black with dots and text

For some reason the texture on my mesh file loads as black for Gazebo 11 with ROS Noetic (gazebo fortress). The texture setup I have will load and configure perfectly fine for Gazebo garden on a ...
user avatar
0 votes
1 answer
31 views

What is the difference between `--headless-rendering` and the `-s` CLI options?

In Ignition Gazebo Fortress the CLI --help says: ...
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