For information on ROS(1) and Gazebo compatibility, refer to the noetic branch README

Please ticket an issue if you'd like support to be added for some combination.

Details about the renaming process from ign to gz .

Note: The ros_ign prefixed packages are shim packages that redirect to their ros_gz counterpart. Under most circumstances you want to be using the ros_gz counterpart.

This repository holds packages that provide integration between ROS and Gazebo:

• ros_gz: Metapackage which provides all the other packages.
• ros_gz_image: Unidirectional transport bridge for images from Gazebo Transport to ROS using image_transport.
• ros_gz_bridge: Bidirectional transport bridge between Gazebo Transport and ROS.
• ros_gz_sim: Convenient launch files and executables for using Gazebo Sim with ROS.
• ros_gz_sim_demos: Demos using the ROS-Gazebo integration.
• ros_gz_point_cloud: Plugins for publishing point clouds to ROS from Gazebo Sim simulations.

This branch supports ROS Rolling. See above for other ROS versions.

Rolling binaries are available for Fortress. They are hosted at https://packages.ros.org.

1. Add https://packages.ros.org

    sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list'
    curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add -
    sudo apt-get update
   

2. Install ros_gz

    sudo apt install ros-rolling-ros-gz
   

Be sure you've installed ROS Rolling (at least ROS-Base). More ROS dependencies will be installed below.

Install either Fortress, Garden, or Harmonic.

Set the GZ_VERSION environment variable to the Gazebo version you'd like to compile against. For example:

export GZ_VERSION=harmonic # IMPORTANT: Replace with correct version

You only need to set this variable when compiling, not when running.

The following steps are for Linux and OSX.

1. Create a colcon workspace:

   # Setup the workspace
   mkdir -p ~/ws/src
   cd ~/ws/src
   
   # Download needed software
   git clone https://github.com/gazebosim/ros_gz.git -b ros2
   

2. Install dependencies (this may also install Gazebo):

   cd ~/ws
   rosdep install -r --from-paths src -i -y --rosdistro rolling
   

   If rosdep fails to install Gazebo libraries and you have not installed them before, please follow Gazebo installation instructions.

3. Build the workspace:

   # Source ROS distro's setup.bash
   source /opt/ros/<distro>/setup.bash
   
   # Build and install into workspace
   cd ~/ws
   colcon build
   

A template project integrating ROS and Gazebo simulator