Gazebo and ROS

Installation & Basics

★ Installing Gazebo with ROS

Main page documenting all the options of installing Gazebo and ROS together

★ ROS 2 and Gazebo Examples

Code demos showing the Gazebo and ROS 2 integration

★ Project layout templates for Gazebo + ROS 2 projects

Directory layout and minimal code to serve as the base for new Gazebo + ROS projects

ROS 2 and Gazebo Integration Best Practices

The talk serves to define best practices of integrating simulation with ROS 2

Description formats: URDF, SDF and others

★ URDF to SDFormat - The use of URDF in Gazebo Sim

Convert and complete an URDF file for its use in Gazebo

★ Use SDF files for robot_description in ROS instead of URDF

Avoid having URDF files in ROS and use SDFormat XML as a robot_description (with limitations)

★ View SDF files on RVIZ

ROS 2 packages to view SDF models on RViz

Description templates repository

The repository contains various examples for how to template description files in ROS 2

★ Automated Conversion of Description Conventions Fusion360 Add-In.

Fusion360 extension exporting models to URDF, SDFormat, and MJCF

Bidirectional SDF <-> Universal Scene Description (USD) converter

gz-usd - Repository containing tools to convert USD and SDFormat

Biderectional SDF <-> MJCF (Mujoco)

Tutorials for converting between SDF and MJCF formats

The ROS 2 Gazebo Bridge (ros_gz)

★ Use ROS 2 to interact with Gazebo

Official Gazebo documentation that explains how to communicate Gazebo and ROS 2 using messages

★ ROS Standard Simulation Interface

Standard simulation interface for improved portability of robot code between simulators, allowing easy switching based on development needs

GUI for ROS 2 <-> Gazebo Launch Generator

Helper tool to setup the parameter bridge in bash cli commands or ROS 2 launch files

★ Bridge improvements for ROS 2 Kilted and Rolling

Performance and Ergonomics improvements to the bridge including Composable Node (avoid serialization between ROS 2 and Gazebo)

Gazebo sensors and plugins in ROS

★ Examples and tutorials for Gazebo sensors on ROS 2

Examples and images about the use Gazebo sensors in ROS 2 with the ros_gz bridge

★ Examples and tutorials for Gazebo sensors on ROS 1 Noetic

Examples and images about the use Gazebo sensors in ROS 1 with the ros_gz/ros_ign bridge

Gazebo with Moveit2/ros2_controls

★ Ign Moveit2 Examples repositories

C++ and Python examples of using MoveIt 2 for planning motions that are executed inside Gazebo simulation environment

OpenMANIPULATOR-X (Robotis) on Harmonic and ROS 2 Jazzy

OpenMANIPULATOR-X repositories with Gazebo, MoveIt2 and task planner

Gazebo with Nav2

★ Gazebo Fortress/Garden Nav2 examples on ROS 2 Humble

Community examples of Nav2 using Gazebo Fortress and Garden on ROS 2 Humble

★ Occupancy Grid Export for Nav2

Export 2D occupancy grid maps from Gazebo for Nav2 path planning using /scan_image topic and exploration command

★ Turtlebot4 Gazebo Fortress on ROS 2 Humble

Docker setup to run the Turtlebot4 on Fortress using ROS 2 Humble

Turtlebot3 support for the new Gazebo

Issue with information about the support of Gazebo in the Turtlebot3