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

Package Summary

Gazebo tools for working with 3D simulator in the ROS environment: urdf2gazebo parser, spawn/remove robots in simulation,

• Author: John Hsu
• License: BSD
• Repository: ros-pkg
• Source: svn https://code.ros.org/svn/ros-pkg/stacks/simulator_gazebo/trunk/gazebo_tools

URDF2Gazebo Parser Library

The urdf2gazebo parser library contains tools to convert URDF into Gazebo model XML. For more details, please take a look at the code API.

Command-line Model Loader

For usage info, type:

rosrun gazebo_tool gazebo_model -h

Example Usage

For example, if robot_description is a ROS parameter containing the complete PR2 URDF, the following command spawns the PR2 robot in simulation at the Gazebo world coordinates (2,0,0):

rosrun gazebo_tools gazebo_model -x 2.0 -p robot_description spawn pr2

Tutorials

Please see this Gazebo tutorial for an example usage.