simulator_gazebo: gazebo | gazebo_msgs | gazebo_plugins | gazebo_tests | gazebo_tools | gazebo_worlds

Package Summary

Robot-Independent Gazebo plugins.

• Author: Sachin Chitta, Stu Glaser, John Hsu
• License: BSD
• Repository: ros-pkg
• Source: svn https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/trunk/gazebo_plugins

Available Plugins

• GazeboRosTime plugin publishes simulation time as the global ROS time over the /clock topic.

• GazeboRosTemplate is an example c++ plugin template for anyone who wants to write their own plugin.

• GazeboRosFactory plugin provides an interface for model manipulation over ROS service.

• GazeboRosCamera plugin provides ROS interface for simulating cameras such as wge100_camera by publishing the CameraInfo and Image ROS messages as described in sensor_msgs.

  • Stereo Image Processor works with the camera plugins instructions in progress

• GazeboRosP3D plugin broadcasts the inertial pose of any body in simulation via Odometry message as described in nav_msgs.

• GazeboRosLaser plugin simulates laser range sensor by broadcasting LaserScan message as described in sensor_msgs.

  • Hokuyo Laser Scanners Reference.

• GazeboRosBumper plugin provides contact feedback via ContactsState message, see API here.

• GazeboRosIMU plugin simulates imu_node.

• GazeboRosSimIface provides ROS interface for user to set pose to a body in simulation. It listens on Odometry message (see nav_msgs for API).

• GazeboRosForce provides ROS interface for applying Wrench (geometry_msgs) on a body in simulation.

• GazeboRosBlockLaser plugin provides grid style laser range scanner simulation (e.g. Velodyne).

• GazeboRosF3D plugin broadcasts external forces on a body in simulation over WrenchStamped message as described in geometry_msgs.

• GazeboRosDiffdrive is a node that provides Erratic differential drive interface, this is not a plugin. See Erratic simulation demo.

• Please see pr2_gazebo_plugins for additional supported PR2 hardware component simulation.