Python launch files provide more low-level customization and logic compared to XML launch files. -In the following example, the user can specify a world argument to launch an environment for -the Moon, Mars, or Enceladus. It additionally sets the resource path environment variable and -sets up empty arrays for topics to be bridged and remapped from Gazebo to ROS 2:
-from ament_index_python.packages import get_package_share_directory
-from launch import LaunchDescription
-from launch.actions import (DeclareLaunchArgument, SetEnvironmentVariable,
- IncludeLaunchDescription, SetLaunchConfiguration)
-from launch.substitutions import PathJoinSubstitution, LaunchConfiguration, TextSubstitution
+Python launch files provide more low-level customization and logic compared to XML launch files. For example, you can set environment variables and include Python specific functions and logic.
+In the following example, the user can replace the example package, world, and bridged topic with their own. This is intended as a scaffolding more than something that can be run on its own.
+from launch import LaunchDescription
from launch_ros.actions import Node
+from launch.actions import SetEnvironmentVariable, IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import PathJoinSubstitution
+from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
- pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
- pkg_spaceros_gz_sim = get_package_share_directory('spaceros_gz_sim')
+ ros_gz_sim_pkg_path = get_package_share_directory('ros_gz_sim')
+ example_pkg_path = FindPackageShare('example_package') # Replace with your own package name
gz_launch_path = PathJoinSubstitution([pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py'])
- gz_model_path = PathJoinSubstitution([pkg_spaceros_gz_sim, 'models'])
return LaunchDescription([
- DeclareLaunchArgument(
- 'world',
- default_value='moon',
- choices=['moon', 'mars', 'enceladus'],
- description='World to load into Gazebo'
+ SetEnvironmentVariable(
+ 'GZ_SIM_RESOURCE_PATH',
+ PathJoinSubstitution([example_pkg_path, 'models'])
+ ),
+ SetEnvironmentVariable(
+ 'GZ_SIM_PLUGIN_PATH',
+ PathJoinSubstitution([example_pkg_path, 'plugins'])
),
- SetLaunchConfiguration(name='world_file',
- value=[LaunchConfiguration('world'),
- TextSubstitution(text='.sdf')]),
- SetEnvironmentVariable('GZ_SIM_RESOURCE_PATH', gz_model_path),
IncludeLaunchDescription(
PythonLaunchDescriptionSource(gz_launch_path),
launch_arguments={
- 'gz_args': [PathJoinSubstitution([pkg_spaceros_gz_sim, 'worlds',
- LaunchConfiguration('world_file')])],
+ 'gz_args': [PathJoinSubstitution([example_pkg_path, 'worlds/example_world.sdf'])], # Replace with your own world file
'on_exit_shutdown': 'True'
}.items(),
),
+
+ # Bridging and remapping Gazebo topics to ROS 2 (replace with your own topics)
+ Node(
+ package='ros_gz_bridge',
+ executable='parameter_bridge',
+ arguments=['/example_imu_topic@sensor_msgs/msg/Imu@gz.msgs.IMU',],
+ remappings=[('/remapped_imu_topic'),],
+ output='screen'
+ ),
])
diff --git a/docs/harmonic/searchindex.js b/docs/harmonic/searchindex.js
index 76dccedd0b..2cf438323a 100644
--- a/docs/harmonic/searchindex.js
+++ b/docs/harmonic/searchindex.js
@@ -1 +1 @@
-Search.setIndex({"alltitles": {"1. Software and configurations": [[37, "software-and-configurations"]], "1. Team and development checks": [[37, "team-and-development-checks"]], "2. Access and Credentials": [[37, "access-and-credentials"]], "2. Update code version and changelogs": [[37, "update-code-version-and-changelogs"]], "3. Update packages version": [[37, "update-packages-version"]], "4. Executing release.py": [[37, "executing-release-py"]], "About Fuel": [[7, null]], "Accessing Simulation Assets": [[48, "accessing-simulation-assets"]], "Acropolis (EOL)": [[35, "acropolis-eol"]], "Actions": [[3, "actions"]], "Actors": [[0, null], [0, "id1"]], "Adding models": [[50, "adding-models"]], "Additional Packages": [[32, "additional-packages"]], "Align Tool": [[30, "align-tool"]], "Align to World frame": [[30, "align-to-world-frame"]], "Alternative approach for Gazebo Classic without the gz tool": [[22, "alternative-approach-for-gazebo-classic-without-the-gz-tool"]], "Animation": [[0, "animation"]], "Appendix": [[5, "appendix"]], "Avoid QML stall waiting for debugger on startup": [[26, "avoid-qml-stall-waiting-for-debugger-on-startup"]], "Avoid the wall": [[51, "avoid-the-wall"]], "Backend server process": [[1, "backend-server-process"]], "Basics tutorials": [[55, "basics-tutorials"]], "Before Submitting An Enhancement Suggestion": [[5, "before-submitting-an-enhancement-suggestion"]], "Binary Installation on Ubuntu": [[25, null]], "Binary Installation on Windows 10": [[27, null]], "Binary Installation on macOS": [[23, null]], "Binary installation instructions": [[21, "binary-installation-instructions"]], "Blueprint (EOL)": [[35, "blueprint-eol"]], "Board Columns": [[5, "board-columns"]], "Bridge ROS topics": [[31, "bridge-ros-topics"]], "Build the node": [[51, "build-the-node"]], "Building a model": [[2, "building-a-model"]], "Building a world": [[2, "building-a-world"]], "Building packages using Gazebo vendor packages": [[42, "building-packages-using-gazebo-vendor-packages"]], "Building the Gazebo Libraries": [[24, "building-the-gazebo-libraries"], [26, "building-the-gazebo-libraries"], [28, "building-the-gazebo-libraries"]], "Building your own robot": [[2, null]], "Bump major versions": [[38, null]], "CMakeLists.txt for building with Gazebo vendor packages": [[42, "cmakelists-txt-for-building-with-gazebo-vendor-packages"]], "Can Open Robotics determine copyright ownership?": [[11, "can-open-robotics-determine-copyright-ownership"]], "Caster wheel": [[2, "caster-wheel"]], "Caster wheel joint": [[2, "caster-wheel-joint"]], "Changes": [[32, "changes"]], "Chassis": [[2, "chassis"]], "Checking the Building Process": [[37, "checking-the-building-process"]], "Choose a Model": [[14, "choose-a-model"]], "Citadel (LTS)": [[35, "citadel-lts"]], "Code of Conduct": [[5, "code-of-conduct"]], "Committers": [[17, "committers"]], "Communication process": [[1, "communication-process"]], "Compiling the code and running the tests": [[5, "compiling-the-code-and-running-the-tests"]], "Component Inspector": [[30, "component-inspector"]], "Composition": [[46, "composition"]], "Conclusion": [[2, "conclusion"], [44, "conclusion"]], "Configure a communication bridge": [[44, "configure-a-communication-bridge"]], "Connecting links together (joints)": [[2, "connecting-links-together-joints"]], "Contact sensor": [[51, "contact-sensor"]], "Content Deletion Policy": [[8, null]], "Contributing Code": [[5, "contributing-code"]], "Contributing a New Model": [[9, null]], "Contributing a New World": [[10, null]], "Contributing to Gazebo": [[5, null], [41, "contributing-to-gazebo"]], "Copyright Infringement Notification Requirements": [[11, "copyright-infringement-notification-requirements"]], "Creating GIFs": [[5, "creating-gifs"]], "Current Gazebo Committers": [[17, "current-gazebo-committers"]], "Current Gazebo PMC Constituents": [[17, "current-gazebo-pmc-constituents"]], "Custom branches": [[3, "custom-branches"]], "Data and Privacy Policy": [[12, null]], "Debian/Ubuntu versioning in nightly and prerelease binaries": [[40, null]], "Declaring dependencies in package.xml": [[42, "declaring-dependencies-in-package-xml"]], "Defining a world": [[50, "defining-a-world"]], "Defining an arbitrary frame": [[2, "defining-an-arbitrary-frame"]], "Defining the model": [[2, "defining-the-model"]], "Deprecation strategy": [[36, "deprecation-strategy"]], "Design": [[39, "design"]], "Development": [[3, "development"], [48, "development"]], "Diff_drive plugin": [[33, "diff-drive-plugin"]], "Dome (EOL)": [[35, "dome-eol"]], "Double-Check": [[32, "double-check"]], "Download the model": [[50, "download-the-model"]], "EGL warnings": [[54, "egl-warnings"]], "Edifice (EOL)": [[35, "edifice-eol"]], "Edit world SDFormat file": [[31, "edit-world-sdformat-file"]], "Enter Custom Snap Values": [[30, "enter-custom-snap-values"]], "Entity tree": [[50, "entity-tree"]], "Example: testing with a source build of a custom branch of a dependency on macOS": [[3, "example-testing-with-a-source-build-of-a-custom-branch-of-a-dependency-on-macos"]], "Example: testing with an additional dependency on macOS": [[3, "example-testing-with-an-additional-dependency-on-macos"]], "Expert use cases": [[42, "expert-use-cases"]], "FAQ": [[49, "faq"]], "Feature comparison": [[4, null]], "For Each Release": [[37, "for-each-release"]], "Fortress": [[35, "fortress"]], "Frontend client process": [[1, "frontend-client-process"]], "GUI": [[4, "gui"], [18, "gui"], [50, "gui"]], "GUI plugins": [[4, "gui-plugins"]], "GUI tutorials": [[55, "gui-tutorials"]], "Garden": [[35, "garden"]], "Gazebo Architecture": [[5, "gazebo-architecture"]], "Gazebo Classic Migration": [[15, null]], "Gazebo Continuous Integration": [[3, null]], "Gazebo Development": [[6, null]], "Gazebo GUI workaround": [[28, "gazebo-gui-workaround"]], "Gazebo Harmonic": [[21, null]], "Gazebo Jetty Roadmap": [[41, "gazebo-jetty-roadmap"]], "Gazebo Keyboard Shortcuts": [[19, null]], "Gazebo Packages for Ubuntu": [[49, "gazebo-packages-for-ubuntu"]], "Gazebo Release Features": [[35, null]], "Gazebo Release Instructions": [[37, null]], "Gazebo Release Process": [[34, null]], "Gazebo Releases": [[36, null]], "Gazebo Roadmap": [[41, null]], "Gazebo Sim Architecture": [[1, null]], "Gazebo Tutorials": [[55, null]], "Gazebo launch": [[51, "gazebo-launch"]], "Gazebo libraries are not found": [[54, "gazebo-libraries-are-not-found"]], "Gazebo library development with vendor packages": [[42, "gazebo-library-development-with-vendor-packages"]], "Gazebo vendor packages": [[42, "gazebo-vendor-packages"]], "Gazebo11 with a separate gz tool package": [[22, "gazebo11-with-a-separate-gz-tool-package"]], "General context and migrations to new Gazebo": [[22, "general-context-and-migrations-to-new-gazebo"]], "General overview": [[34, "general-overview"]], "Generic tools": [[26, "generic-tools"]], "Getting Started with Gazebo?": [[16, null]], "Getting the sources": [[24, "getting-the-sources"], [26, "getting-the-sources"]], "Git": [[26, "git"]], "Gotchas": [[32, "gotchas"]], "Governance": [[17, null]], "Grid Config": [[18, "grid-config"]], "Guide to ros_gz_project_template for ROS 2 and Gazebo Development": [[48, null]], "Hard-tocks": [[32, "hard-tocks"]], "Harmonic": [[35, "harmonic"]], "Harmonic Libraries": [[21, "harmonic-libraries"]], "Helpful CLI Redirection": [[32, "helpful-cli-redirection"]], "History of Gazebo packaging before ROS 2 Jazzy": [[42, "history-of-gazebo-packaging-before-ros-2-jazzy"]], "How Do I Submit A (Good) Enhancement Suggestion?": [[5, "how-do-i-submit-a-good-enhancement-suggestion"]], "How the packaging works for the gz command": [[22, "how-the-packaging-works-for-the-gz-command"]], "How to Contribute": [[5, "how-to-contribute"]], "I am not using ROS at all, which version should I use?": [[49, "i-am-not-using-ros-at-all-which-version-should-i-use"]], "I want to use Gazebo Harmonic or Gazebo Garden with ROS 2. Where are the packages?": [[49, "i-want-to-use-gazebo-harmonic-or-gazebo-garden-with-ros-2-where-are-the-packages"]], "IMU sensor": [[51, "imu-sensor"]], "Ignore architectures using \u2018.releasepy_NO_ARCH_\u2019": [[39, "ignore-architectures-using-releasepy-no-arch"]], "Implementation": [[44, "implementation"]], "Inappropriate Content": [[12, "inappropriate-content"]], "Include the model URI": [[50, "include-the-model-uri"]], "Index": [[20, null]], "Inertial properties": [[2, "inertial-properties"]], "Information we collect": [[12, "information-we-collect"]], "Information we get from your use of our services": [[12, "information-we-get-from-your-use-of-our-services"]], "Information you give to us": [[12, "information-you-give-to-us"]], "Infrastructure": [[34, "infrastructure"]], "Initial setup": [[37, "initial-setup"]], "Install compiler requirements": [[24, "install-compiler-requirements"]], "Install dependencies": [[5, "install-dependencies"], [24, "install-dependencies"], [26, "install-dependencies"], [28, "install-dependencies"]], "Install tools": [[24, "install-tools"], [26, "install-tools"]], "Installation Steps": [[48, "installation-steps"]], "Installing Gazebo": [[49, "installing-gazebo"]], "Installing Gazebo with ROS": [[49, null]], "Installing Gazebo11 side by side with new Gazebo": [[22, null]], "Installing Non-Default Gazebo/ROS 2 Pairings": [[49, "installing-non-default-gazebo-ros-2-pairings"]], "Installing Non-Default Gazebo/ROS 2 Pairings with vendor packages": [[42, "installing-non-default-gazebo-ros-2-pairings-with-vendor-packages"]], "Installing the Default Gazebo/ROS Pairing": [[49, "installing-the-default-gazebo-ros-pairing"]], "Installing the new packaging from the PPA": [[22, "installing-the-new-packaging-from-the-ppa"]], "Interpreting results": [[3, "interpreting-results"]], "Ionic": [[35, "ionic"]], "Is it possible to use a copyright-protected work without infringing?": [[11, "is-it-possible-to-use-a-copyright-protected-work-without-infringing"]], "Jenkins": [[3, "jenkins"]], "KeyPublisher": [[33, "keypublisher"]], "Known Limitations": [[42, "known-limitations"]], "Launch Gazebo from ROS 2": [[45, null]], "Launch state publisher nodes": [[44, "launch-state-publisher-nodes"]], "Launch the world": [[31, "launch-the-world"]], "Launching the bridge from a custom launch file in Python.": [[43, "launching-the-bridge-from-a-custom-launch-file-in-python"]], "Launching the bridge from a custom launch file in XML.": [[43, "launching-the-bridge-from-a-custom-launch-file-in-xml"]], "Launching the bridge manually": [[43, "launching-the-bridge-manually"]], "Launching the bridge using the launch files included in ros_gz_bridge package.": [[43, "launching-the-bridge-using-the-launch-files-included-in-ros-gz-bridge-package"]], "Launching with ros_gz_bridge": [[45, "launching-with-ros-gz-bridge"]], "Left wheel": [[2, "left-wheel"]], "Left wheel joint": [[2, "left-wheel-joint"]], "Library Reference": [[29, null]], "Library Versions": [[36, "library-versions"]], "Lidar sensor": [[51, "lidar-sensor"]], "Light": [[50, "light"]], "Links forming our robot": [[2, "links-forming-our-robot"]], "Load robot description to the parameter server": [[44, "load-robot-description-to-the-parameter-server"]], "MacOS versioning in unstable packages": [[40, "macos-versioning-in-unstable-packages"]], "Maintaining a single robot description format": [[44, "maintaining-a-single-robot-description-format"]], "Manipulating Models": [[30, null]], "Manually triggered from source jobs": [[3, "manually-triggered-from-source-jobs"]], "Many errors from setuptools when running colcon": [[54, "many-errors-from-setuptools-when-running-colcon"]], "Maximum number of open files reached ulimit error": [[54, "maximum-number-of-open-files-reached-ulimit-error"]], "Metadata for Releasing": [[34, "metadata-for-releasing"]], "Migrate Bindings": [[32, "migrate-bindings"]], "Migrate CMake": [[32, "migrate-cmake"]], "Migrate Files and File References": [[32, "migrate-files-and-file-references"]], "Migrate Headers and Sources": [[32, "migrate-headers-and-sources"]], "Migrate Macros and Environment Variables": [[32, "migrate-macros-and-environment-variables"]], "Migrate Messages": [[32, "migrate-messages"]], "Migrate Plugins and Shared Libraries": [[32, "migrate-plugins-and-shared-libraries"]], "Migrate SDF": [[32, "migrate-sdf"]], "Migrate Your CLI Usage": [[32, "migrate-your-cli-usage"]], "Migrating ROS 2 packages that use Gazebo Classic": [[31, null]], "Migrating other files in turtlebot3_gazebo": [[31, "migrating-other-files-in-turtlebot3-gazebo"]], "Migration": [[32, "migration"]], "Migration Guide": [[32, null]], "Migration Steps": [[32, "migration-steps"]], "Model Insertion from Fuel": [[14, null]], "Model plugins": [[4, "model-plugins"]], "Modify the model": [[31, "modify-the-model"]], "Moving the robot": [[33, null]], "Moving the robot using the keyboard": [[33, "moving-the-robot-using-the-keyboard"]], "Moving using arrow keys": [[33, "moving-using-arrow-keys"]], "Naming Scheme": [[36, "naming-scheme"]], "Network Configuration Issue": [[54, "network-configuration-issue"]], "New distributions in Debian/Ubuntu": [[39, "new-distributions-in-debian-ubuntu"]], "New repository": [[39, "new-repository"]], "Next Up": [[14, "next-up"], [18, "next-up"], [30, "next-up"]], "No rule to make target '/usr/lib/libm.dylib', needed by 'lib/libgz-physics6-dartsim-plugin.6.1.0.dylib'. Stop.": [[54, "no-rule-to-make-target-usr-lib-libm-dylib-needed-by-lib-libgz-physics6-dartsim-plugin-6-1-0-dylib-stop"]], "Obtaining a URDF file": [[53, "obtaining-a-urdf-file"]], "Open Source Robotics Alliance (OSRA)": [[17, "open-source-robotics-alliance-osra"]], "Other tools": [[34, "other-tools"]], "Others": [[4, "others"]], "Out of memory issues": [[54, "out-of-memory-issues"]], "Overview": [[32, "overview"], [32, "id1"], [44, "overview"]], "Package structure": [[48, "package-structure"]], "Per-library tutorials": [[55, "per-library-tutorials"]], "Physics": [[4, "physics"], [50, "physics"]], "Picking the \u201cCorrect\u201d Versions of ROS & Gazebo": [[49, "picking-the-correct-versions-of-ros-gazebo"]], "Planned releases": [[41, "planned-releases"]], "Platforms": [[4, "platforms"]], "Plugins": [[4, "plugins"], [50, "plugins"]], "Preliminaries": [[51, "preliminaries"]], "Prerequisites": [[14, "prerequisites"], [18, "prerequisites"], [30, "prerequisites"], [44, "prerequisites"]], "Problems with dual Intel and Nvidia GPU systems": [[54, "problems-with-dual-intel-and-nvidia-gpu-systems"]], "Process": [[5, "process"]], "Processes triggered when using release.py": [[34, "processes-triggered-when-using-release-py"]], "Project Design": [[5, "project-design"]], "Publish key strokes to ROS": [[43, "publish-key-strokes-to-ros"]], "Python": [[45, "python"]], "Python 3 from Homebrew": [[24, "python-3-from-homebrew"]], "QML Debugging": [[26, "qml-debugging"]], "ROS 2 Gazebo Vendor Packages": [[42, null]], "ROS 2 Gazebo Vendor packages": [[49, "ros-2-gazebo-vendor-packages"]], "ROS 2 Interoperability": [[44, null]], "ROS 2 integration overview": [[46, null]], "ROS integration": [[4, "ros-integration"], [55, "ros-integration"]], "ROSCon 2022": [[48, "roscon-2022"]], "Read data from IMU": [[51, "read-data-from-imu"]], "Recommendations": [[32, "recommendations"]], "Release List": [[36, "release-list"]], "Release repositories": [[39, null]], "Releasing information for members of development team": [[5, "releasing-information-for-members-of-development-team"]], "Releasing platforms supported": [[34, "releasing-platforms-supported"]], "Rendering": [[4, "rendering"]], "Reporting Bugs": [[5, "reporting-bugs"]], "Repositories": [[5, "repositories"]], "Repository List": [[5, "repository-list"]], "Required checks": [[3, "required-checks"]], "Requirements": [[46, "requirements"]], "Right wheel": [[2, "right-wheel"]], "Right wheel joint": [[2, "right-wheel-joint"]], "Rotate Mode": [[30, "rotate-mode"]], "Run RViz and Gazebo": [[44, "run-rviz-and-gazebo"]], "Run the node": [[51, "run-the-node"]], "Running Gazebo from vendor packages": [[42, "running-gazebo-from-vendor-packages"]], "SDF Features": [[4, "sdf-features"]], "SDF worlds": [[50, null]], "Sanitizers": [[5, "sanitizers"]], "Scripted trajectory": [[0, "scripted-trajectory"]], "Select Mode": [[30, "select-mode"]], "Sensor plugins": [[4, "sensor-plugins"]], "Sensors": [[4, "sensors"], [51, null]], "Setting up Gazebo in a Continuous Integration (CI) Pipeline": [[52, null]], "Setup": [[44, "setup"]], "Skeleton": [[0, "skeleton"]], "Skin": [[0, "skin"]], "Source Installation instructions": [[21, "source-installation-instructions"]], "Source Installation on Ubuntu": [[26, null]], "Source Installation on Windows 10 or 11": [[28, null]], "Source Installation on macOS": [[24, null]], "Spawn URDF": [[53, null]], "Spawn a Gazebo model from ROS 2": [[47, null]], "Spawn a Model": [[14, "spawn-a-model"]], "Spawn a model from a custom launch file.": [[47, "spawn-a-model-from-a-custom-launch-file"]], "Spawn a model using the launch file included in ros_gz_sim.": [[47, "spawn-a-model-using-the-launch-file-included-in-ros-gz-sim"]], "Spawn model": [[31, "spawn-model"]], "Spawning a model": [[50, "spawning-a-model"]], "Spawning a model alongside launching ros_gz_bridge": [[47, "spawning-a-model-alongside-launching-ros-gz-bridge"]], "Spawning the URDF": [[53, "spawning-the-urdf"]], "Specific ROS and Gazebo Pairings": [[49, "specific-ros-and-gazebo-pairings"]], "Step 1: Install": [[16, "step-1-install"]], "Step 2: Run": [[16, "step-2-run"]], "Step 3: Create your own world": [[16, "step-3-create-your-own-world"]], "Step 4: Explore and learn": [[16, "step-4-explore-and-learn"]], "Style Guides": [[5, "style-guides"]], "Suggesting Enhancements": [[5, "suggesting-enhancements"]], "Summary of Compatible ROS and Gazebo Combinations": [[49, "summary-of-compatible-ros-and-gazebo-combinations"]], "Support": [[7, "support"]], "Support lifecycle": [[36, "support-lifecycle"]], "Supported Gazebo Releases": [[52, "supported-gazebo-releases"]], "Supported Gazebo versions and Ubuntu platforms for this tutorial": [[22, "supported-gazebo-versions-and-ubuntu-platforms-for-this-tutorial"]], "Supported Platforms": [[52, "supported-platforms"]], "Supported platforms": [[21, "supported-platforms"], [36, "supported-platforms"]], "System plugins": [[4, "system-plugins"]], "Technical Governance Committee (TGC)": [[17, "technical-governance-committee-tgc"]], "Test Coverage": [[5, "test-coverage"]], "Testing pull requests with custom tooling branches": [[3, "testing-pull-requests-with-custom-tooling-branches"]], "The Gazebo Project Management Committee (PMC)": [[17, "the-gazebo-project-management-committee-pmc"]], "The Right Panel": [[18, "the-right-panel"]], "The Scene": [[18, "the-scene"]], "The Toolbars": [[18, "the-toolbars"]], "The four factors of fair use:": [[13, "the-four-factors-of-fair-use"]], "The lidar_node": [[51, "the-lidar-node"]], "Tick-tocks": [[32, "tick-tocks"]], "Tick-tocks and Hard-tocks": [[32, "tick-tocks-and-hard-tocks"]], "Topics and Messages": [[33, "topics-and-messages"]], "Tracking Progress": [[5, "tracking-progress"]], "Transform Control": [[30, "transform-control"]], "Translate Mode": [[30, "translate-mode"]], "Triggered Publisher": [[33, "triggered-publisher"]], "Triggering CI": [[3, "triggering-ci"]], "Triggering the release": [[37, "triggering-the-release"]], "Troubleshooting": [[23, "troubleshooting"], [24, "troubleshooting"], [25, "troubleshooting"], [26, "troubleshooting"], [27, "troubleshooting"], [28, "troubleshooting"], [54, null]], "Type of releases": [[34, "type-of-releases"]], "Types of checks": [[3, "types-of-checks"]], "Ubuntu": [[54, "ubuntu"]], "Unable to create the rendering window": [[54, "unable-to-create-the-rendering-window"]], "Unable to find urdf_model.h error": [[54, "unable-to-find-urdf-model-h-error"]], "Unable to load .dylib file": [[54, "unable-to-load-dylib-file"]], "Understanding the GUI": [[18, null]], "Uninstalling binary install": [[23, "uninstalling-binary-install"], [25, "uninstalling-binary-install"], [27, "uninstalling-binary-install"]], "Uninstalling source-based install": [[26, "uninstalling-source-based-install"], [28, "uninstalling-source-based-install"]], "Untocks": [[32, "untocks"]], "Update package dependencies": [[31, "update-package-dependencies"]], "Usage": [[48, "usage"]], "Use ROS 2 to interact with Gazebo": [[43, null]], "Using a custom launch file.": [[45, "using-a-custom-launch-file"]], "Using the Latest Gazebo Source Code for a Gazebo Distribution": [[49, "using-the-latest-gazebo-source-code-for-a-gazebo-distribution"]], "Using the gzdev repository command": [[34, "using-the-gzdev-repository-command"]], "Using the launch files included in": [[45, "using-the-launch-files-included-in"]], "Using the workspace": [[24, "using-the-workspace"], [26, "using-the-workspace"], [28, "using-the-workspace"]], "Version schemes": [[40, "version-schemes"]], "Versioning": [[34, "versioning"]], "Versions in binary packages": [[34, "versions-in-binary-packages"]], "Versions in software code (upstream versions)": [[34, "versions-in-software-code-upstream-versions"]], "Versions when mixing stable, prerelease and nightly": [[40, "versions-when-mixing-stable-prerelease-and-nightly"]], "Video walk-through": [[0, "video-walk-through"], [2, "video-walk-through"], [33, "video-walk-through"], [43, 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\ No newline at end of file
+Search.setIndex({"alltitles": {"1. Software and configurations": [[37, "software-and-configurations"]], "1. Team and development checks": [[37, "team-and-development-checks"]], "2. Access and Credentials": [[37, "access-and-credentials"]], "2. Update code version and changelogs": [[37, "update-code-version-and-changelogs"]], "3. Update packages version": [[37, "update-packages-version"]], "4. Executing release.py": [[37, "executing-release-py"]], "About Fuel": [[7, null]], "Accessing Simulation Assets": [[48, "accessing-simulation-assets"]], "Acropolis (EOL)": [[35, "acropolis-eol"]], "Actions": [[3, "actions"]], "Actors": [[0, null], [0, "id1"]], "Adding models": [[50, "adding-models"]], "Additional Packages": [[32, "additional-packages"]], "Align Tool": [[30, "align-tool"]], "Align to World frame": [[30, "align-to-world-frame"]], "Alternative approach for Gazebo Classic without the gz tool": [[22, "alternative-approach-for-gazebo-classic-without-the-gz-tool"]], "Animation": [[0, "animation"]], "Appendix": [[5, "appendix"]], "Avoid QML stall waiting for debugger on startup": [[26, "avoid-qml-stall-waiting-for-debugger-on-startup"]], "Avoid the wall": [[51, "avoid-the-wall"]], "Backend server process": [[1, "backend-server-process"]], "Basics tutorials": [[55, "basics-tutorials"]], "Before Submitting An Enhancement Suggestion": [[5, "before-submitting-an-enhancement-suggestion"]], "Binary Installation on Ubuntu": [[25, null]], "Binary Installation on Windows 10": [[27, null]], "Binary Installation on macOS": [[23, null]], "Binary installation instructions": [[21, "binary-installation-instructions"]], "Blueprint (EOL)": [[35, "blueprint-eol"]], "Board Columns": [[5, "board-columns"]], "Bridge ROS topics": [[31, "bridge-ros-topics"]], "Build the node": [[51, "build-the-node"]], "Building a model": [[2, "building-a-model"]], "Building a world": [[2, "building-a-world"]], "Building packages using Gazebo vendor packages": [[42, "building-packages-using-gazebo-vendor-packages"]], "Building the Gazebo Libraries": [[24, "building-the-gazebo-libraries"], [26, "building-the-gazebo-libraries"], [28, "building-the-gazebo-libraries"]], "Building your own robot": [[2, null]], "Bump major versions": [[38, null]], "CMakeLists.txt for building with Gazebo vendor packages": [[42, "cmakelists-txt-for-building-with-gazebo-vendor-packages"]], "Can Open Robotics determine copyright ownership?": [[11, "can-open-robotics-determine-copyright-ownership"]], "Caster wheel": [[2, "caster-wheel"]], "Caster wheel joint": [[2, "caster-wheel-joint"]], "Changes": [[32, "changes"]], "Chassis": [[2, "chassis"]], "Checking the Building Process": [[37, "checking-the-building-process"]], "Choose a Model": [[14, "choose-a-model"]], "Citadel (LTS)": [[35, "citadel-lts"]], "Code of Conduct": [[5, "code-of-conduct"]], "Committers": [[17, "committers"]], "Communication process": [[1, "communication-process"]], "Compiling the code and running the tests": [[5, "compiling-the-code-and-running-the-tests"]], "Component Inspector": [[30, "component-inspector"]], "Composition": [[46, "composition"]], "Conclusion": [[2, "conclusion"], [44, "conclusion"]], "Configure a communication bridge": [[44, "configure-a-communication-bridge"]], "Connecting links together (joints)": [[2, "connecting-links-together-joints"]], "Contact sensor": [[51, "contact-sensor"]], "Content Deletion Policy": [[8, null]], "Contributing Code": [[5, "contributing-code"]], "Contributing a New Model": [[9, null]], "Contributing a New World": [[10, null]], "Contributing to Gazebo": [[5, null], [41, "contributing-to-gazebo"]], "Copyright Infringement Notification Requirements": [[11, "copyright-infringement-notification-requirements"]], "Creating GIFs": [[5, "creating-gifs"]], "Current Gazebo Committers": [[17, "current-gazebo-committers"]], "Current Gazebo PMC Constituents": [[17, "current-gazebo-pmc-constituents"]], "Custom branches": [[3, "custom-branches"]], "Data and Privacy Policy": [[12, null]], "Debian/Ubuntu versioning in nightly and prerelease binaries": [[40, null]], "Declaring dependencies in package.xml": [[42, "declaring-dependencies-in-package-xml"]], "Defining a world": [[50, "defining-a-world"]], "Defining an arbitrary frame": [[2, "defining-an-arbitrary-frame"]], "Defining the model": [[2, "defining-the-model"]], "Deprecation strategy": [[36, "deprecation-strategy"]], "Design": [[39, "design"]], "Development": [[3, "development"], [48, "development"]], "Diff_drive plugin": [[33, "diff-drive-plugin"]], "Dome (EOL)": [[35, "dome-eol"]], "Double-Check": [[32, "double-check"]], "Download the model": [[50, "download-the-model"]], "EGL warnings": [[54, "egl-warnings"]], "Edifice (EOL)": [[35, "edifice-eol"]], "Edit world SDFormat file": [[31, "edit-world-sdformat-file"]], "Enter Custom Snap Values": [[30, "enter-custom-snap-values"]], "Entity tree": [[50, "entity-tree"]], "Example: testing with a source build of a custom branch of a dependency on macOS": [[3, "example-testing-with-a-source-build-of-a-custom-branch-of-a-dependency-on-macos"]], "Example: testing with an additional dependency on macOS": [[3, "example-testing-with-an-additional-dependency-on-macos"]], "Expert use cases": [[42, "expert-use-cases"]], "FAQ": [[49, "faq"]], "Feature comparison": [[4, null]], "For Each Release": [[37, "for-each-release"]], "Fortress": [[35, "fortress"]], "Frontend client process": [[1, "frontend-client-process"]], "GUI": [[4, "gui"], [18, "gui"], [50, "gui"]], "GUI plugins": [[4, "gui-plugins"]], "GUI tutorials": [[55, "gui-tutorials"]], "Garden": [[35, "garden"]], "Gazebo Architecture": [[5, "gazebo-architecture"]], "Gazebo Classic Migration": [[15, null]], "Gazebo Continuous Integration": [[3, null]], "Gazebo Development": [[6, null]], "Gazebo GUI workaround": [[28, "gazebo-gui-workaround"]], "Gazebo Harmonic": [[21, null]], "Gazebo Jetty Roadmap": [[41, "gazebo-jetty-roadmap"]], "Gazebo Keyboard Shortcuts": [[19, null]], "Gazebo Packages for Ubuntu": [[49, "gazebo-packages-for-ubuntu"]], "Gazebo Release Features": [[35, null]], "Gazebo Release Instructions": [[37, null]], "Gazebo Release Process": [[34, null]], "Gazebo Releases": [[36, null]], "Gazebo Roadmap": [[41, null]], "Gazebo Sim Architecture": [[1, null]], "Gazebo Tutorials": [[55, null]], "Gazebo launch": [[51, "gazebo-launch"]], "Gazebo libraries are not found": [[54, "gazebo-libraries-are-not-found"]], "Gazebo library development with vendor packages": [[42, "gazebo-library-development-with-vendor-packages"]], "Gazebo vendor packages": [[42, "gazebo-vendor-packages"]], "Gazebo11 with a separate gz tool package": [[22, "gazebo11-with-a-separate-gz-tool-package"]], "General context and migrations to new Gazebo": [[22, "general-context-and-migrations-to-new-gazebo"]], "General overview": [[34, "general-overview"]], "Generic tools": [[26, "generic-tools"]], "Getting Started with Gazebo?": [[16, null]], "Getting the sources": [[24, "getting-the-sources"], [26, "getting-the-sources"]], "Git": [[26, "git"]], "Gotchas": [[32, "gotchas"]], "Governance": [[17, null]], "Grid Config": [[18, "grid-config"]], "Guide to ros_gz_project_template for ROS 2 and Gazebo Development": [[48, null]], "Hard-tocks": [[32, "hard-tocks"]], "Harmonic": [[35, "harmonic"]], "Harmonic Libraries": [[21, "harmonic-libraries"]], "Helpful CLI Redirection": [[32, "helpful-cli-redirection"]], "History of Gazebo packaging before ROS 2 Jazzy": [[42, "history-of-gazebo-packaging-before-ros-2-jazzy"]], "How Do I Submit A (Good) Enhancement Suggestion?": [[5, "how-do-i-submit-a-good-enhancement-suggestion"]], "How the packaging works for the gz command": [[22, "how-the-packaging-works-for-the-gz-command"]], "How to Contribute": [[5, "how-to-contribute"]], "I am not using ROS at all, which version should I use?": [[49, "i-am-not-using-ros-at-all-which-version-should-i-use"]], "I want to use Gazebo Harmonic or Gazebo Garden with ROS 2. Where are the packages?": [[49, "i-want-to-use-gazebo-harmonic-or-gazebo-garden-with-ros-2-where-are-the-packages"]], "IMU sensor": [[51, "imu-sensor"]], "Ignore architectures using \u2018.releasepy_NO_ARCH_\u2019": [[39, "ignore-architectures-using-releasepy-no-arch"]], "Implementation": [[44, "implementation"]], "Inappropriate Content": [[12, "inappropriate-content"]], "Include the model URI": [[50, "include-the-model-uri"]], "Index": [[20, null]], "Inertial properties": [[2, "inertial-properties"]], "Information we collect": [[12, "information-we-collect"]], "Information we get from your use of our services": [[12, "information-we-get-from-your-use-of-our-services"]], "Information you give to us": [[12, "information-you-give-to-us"]], "Infrastructure": [[34, "infrastructure"]], "Initial setup": [[37, "initial-setup"]], "Install compiler requirements": [[24, "install-compiler-requirements"]], "Install dependencies": [[5, "install-dependencies"], [24, "install-dependencies"], [26, "install-dependencies"], [28, "install-dependencies"]], "Install tools": [[24, "install-tools"], [26, "install-tools"]], "Installation Steps": [[48, "installation-steps"]], "Installing Gazebo": [[49, "installing-gazebo"]], "Installing Gazebo with ROS": [[49, null]], "Installing Gazebo11 side by side with new Gazebo": [[22, null]], "Installing Non-Default Gazebo/ROS 2 Pairings": [[49, "installing-non-default-gazebo-ros-2-pairings"]], "Installing Non-Default Gazebo/ROS 2 Pairings with vendor packages": [[42, "installing-non-default-gazebo-ros-2-pairings-with-vendor-packages"]], "Installing the Default Gazebo/ROS Pairing": [[49, "installing-the-default-gazebo-ros-pairing"]], "Installing the new packaging from the PPA": [[22, "installing-the-new-packaging-from-the-ppa"]], "Interpreting results": [[3, "interpreting-results"]], "Ionic": [[35, "ionic"]], "Is it possible to use a copyright-protected work without infringing?": [[11, 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