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gazebo_ros_api_plugin
Gazebo Subscribed Topics
~/set_link_state
~/set_model_state
Gazebo Published Parameters
/use_sim_time
Gazebo Published Topics
/clock
~/link_states
~/model_states
Gazebo Services
~/spawn_urdf_model
~/spawn_sdf_model
~/delete_model
State and properties getters
…
State and properties setters
…
Simulation control
~/pause_physics
~/unpause_physics
~/reset_simulation
~/reset_world
Force control
~/apply_body_wrench
~/apply_joint_effort
~/clear_joint_forces
~/clear_body_wrenches
gazebo
Stand Alone Core
gazebo_ros
Formally simulator_gazebo/gazebo
This package wraps gzserver and gzclient by using two Gazebo plugins that provide the necessary ROS interface for messages, services and dynamic reconfigure
ROS node name:
gazebo
Plugins:
gazebo_ros_api_plugin
gazebo_ros_paths_plugin
Usage:
rosrun gazebo_ros gazebo
rosrun gazebo_ros gzserver
rosrun gazebo_ros gzclient
rosrun gazebo_ros spawn_model
rosrun gazebo_ros perf
rosrun gazebo_ros debug
urdfdom
gazebo_msgs
Msg and Srv data structures for interacting with Gazebo from ROS.
gazebo_plugins
Robot-independent Gazebo plugins.
Sensory
gazebo_ros_projector
gazebo_ros_p3d
gazebo_ros_imu
gazebo_ros_laser
gazebo_ros_f3d
gazebo_ros_camera_utils
gazebo_ros_depth_camera
gazebo_ros_openni_kinect
gazebo_ros_camera
gazebo_ros_bumper
gazebo_ros_block_laser
gazebo_ros_gpu_laser
Motory
gazebo_ros_joint_trajectory
gazebo_ros_diffdrive
gazebo_ros_force
gazebo_ros_template
Dynamic Reconfigure
vision_reconfigure
hokuyo_node
camera_synchronizer
gazebo_tests
Merged to gazebo_plugins
Contains a variety of unit tests for gazebo, tools and plugins.
gazebo_worlds
Merged to gazebo_ros
Contains a variety of unit tests for gazebo, tools and plugins.
wg
simple_erratic
simple_office
wg_collada_throttled - delete
wg_collada
grasp
empty_throttled
3stacks
elevator
simple_office_table
scan
empty
simple
balcony
camera
test_friction
simple_office2
empty_listener
gazebo_tools
Removed
gazebo_ros_paths_plugin
Provides ROS package paths to Gazebo
ROS packages
Depreciated from simulator_gazebo
Gazebo Plugin
+
Meta Package: gazebo_ros_pkgs