Cmake_minimum_required Example

For ROS 2, see ROS 2 integration overview.

  1. Cmakeminimumrequired(VERSION 3.4.1) # Specifies a library name, specifies whether the library is STATIC or # SHARED, and provides relative paths to the source code. You can # define multiple libraries by adding multiple addlibrary commands, # and CMake builds them for you.
  2. ROS 2 Documentation. The ROS Wiki is for ROS 1. Are you using ROS 2 (Dashing/Foxy/Rolling)? Check out the ROS 2 Documentation.

Cmakeminimumrequired(VERSION 2.8.9) project (TestLibrary) #For the shared library. The examples above provide a short and practical introduction to CMake and how it can be used to build: a simple project, a separately compiled project, and a shared library. These are the operations that you are likely to perform and the examples above can.

To achieve ROS integration with stand-alone Gazebo, a set of ROS packages namedgazebo_ros_pkgs provides wrappersaround the stand-alone Gazebo. They provide the necessary interfaces tosimulate a robot in Gazebo using ROS messages, services and dynamic reconfigureSome features of gazebo_ros_pkgs:

  • Supports a stand alone system dependency of Gazebo, that has no ROS bindings on its own
  • Builds with catkin
  • Treats URDF and SDF as equally as possible
  • Reduces code duplication with Gazebo
  • Improves out of the box support for controllers using ros_control
  • Integrates real time controller efficiency improvements from the DARPA Robotics Challenge
  • Cleans up old code from previous versions of ROS and Gazebo

An overview of the gazebo_ros_pkgs interface is in the following diagram: Rimworld discount.

Upgrading from simulator_gazebo (ROS groovy and earlier)

The following guidelines will help you upgrade your Gazebo-dependent packages from simulator_gazebo for use in your ROS packages:

Launch Files

Some changes are required in previously created roslaunch files for starting Gazebo.The best way to update these packages is to review theUsing roslaunch files to spawn models in Gazebo tutorial.In a nutshell:

  • Within roslaunch files, pkg='gazebo' needs to be now renamed to pkg='gazebo_ros'
  • gazebo_worlds package has been removed.Most of the world files were rarely used and were not maintained with changes in SDF XML formats.Thus, all worlds have been centralized within the Gazebo project itself, including empty.world.
  • The best way to use Gazebo launch files is to simply inherit/include the master empty_world launch file located in the gazebo_ros package.
Cmake file example

CMakeLists.txt

The ROS-wrapped versiong of Gazebo was removed in favor of the system install of Gazebo. This may require reconfiguration of yourCMake file. The following is an example CMakeLists.txt:

package.xml

Add dependency on the new gazebo_ros package:

Running Gazebo

The names of the ROS nodes to launch Gazebo have changed slightly to coincide with the Gazebo executable names:

  • rosrun gazebo_ros gazebo launch both the Gazebo server and GUI.
  • rosrun gazebo_ros gzclient launch the Gazebo GUI.
  • rosrun gazebo_ros gzserver launch the Gazebo server.

Available nodes to run:

Cmake Minimum Version

These nodes are better documented in the tutorialUsing roslaunch files to spawn models in Gazebo.

Cmake_minimum_required Example Page

Continue to Installing gazebo_ros Packages.

For ROS 2, see ROS 2 integration overview.

To achieve ROS integration with stand-alone Gazebo, a set of ROS packages namedgazebo_ros_pkgs provides wrappersaround the stand-alone Gazebo. They provide the necessary interfaces tosimulate a robot in Gazebo using ROS messages, services and dynamic reconfigureSome features of gazebo_ros_pkgs:

Cmake Project Example

  • Supports a stand alone system dependency of Gazebo, that has no ROS bindings on its own
  • Builds with catkin
  • Treats URDF and SDF as equally as possible
  • Reduces code duplication with Gazebo
  • Improves out of the box support for controllers using ros_control
  • Integrates real time controller efficiency improvements from the DARPA Robotics Challenge
  • Cleans up old code from previous versions of ROS and Gazebo

An overview of the gazebo_ros_pkgs interface is in the following diagram:

Upgrading from simulator_gazebo (ROS groovy and earlier)

The following guidelines will help you upgrade your Gazebo-dependent packages from simulator_gazebo for use in your ROS packages:

Launch Files

Cmake minimum version

Some changes are required in previously created roslaunch files for starting Gazebo.The best way to update these packages is to review theUsing roslaunch files to spawn models in Gazebo tutorial.In a nutshell:

Example
  • Within roslaunch files, pkg='gazebo' needs to be now renamed to pkg='gazebo_ros'
  • gazebo_worlds package has been removed.Most of the world files were rarely used and were not maintained with changes in SDF XML formats.Thus, all worlds have been centralized within the Gazebo project itself, including empty.world.
  • The best way to use Gazebo launch files is to simply inherit/include the master empty_world launch file located in the gazebo_ros package.

CMakeLists.txt

The ROS-wrapped versiong of Gazebo was removed in favor of the system install of Gazebo. This may require reconfiguration of yourCMake file. The following is an example CMakeLists.txt:

package.xml

Add dependency on the new gazebo_ros package:

Running Gazebo

The names of the ROS nodes to launch Gazebo have changed slightly to coincide with the Gazebo executable names:

  • rosrun gazebo_ros gazebo launch both the Gazebo server and GUI.
  • rosrun gazebo_ros gzclient launch the Gazebo GUI.
  • rosrun gazebo_ros gzserver launch the Gazebo server.

Cmake_minimum_required Example Of Data

Available nodes to run:

These nodes are better documented in the tutorialUsing roslaunch files to spawn models in Gazebo.

Cmake_minimum_required Example Pdf

Continue to Installing gazebo_ros Packages.