Gazebo Launch : Run and manage programs and plugins

Maintainer: nate AT openrobotics DOT org

Build	Status
Test coverage
Ubuntu Noble
Homebrew
Windows

Gazebo Launch, a component of Gazebo, provides a command line interface to run and manage application and plugins.

Table of Contents

Features

Install

Usage

Documentation

Folder Structure

Contributing

Code of Conduct

Versioning

License

Features

Gazebo Launch is used to run and manage plugins and programs. A configuration script can be used to specify which programs and plugins to execute. Alternatively, individual programs and plugins can be run from the command line. Example configuration scripts are located in the examples directory.

1. Automatic ERB parsing of configuration files.
2. Pass arguments to launch files from the command line.
3. Plugins to launch Gazebo Sim, joystick interface, and a websocket server for simulation.

Install

See the installation tutorial.

Usage

Sample launch configuration files are in the examples directory.

Example

1. Run a configuration that launches Gazebo.

    gz launch sim.gzlaunch
    

Known issue of command line tools

In the event that the installation is a mix of Debian and from source, command line tools from gz-tools may not work correctly.

A workaround is to define the environment variable GZ_CONFIG_PATH to point to the different locations of the Gazebo libraries installations, where the YAML files for the packages are found, such as

export GZ_CONFIG_PATH=/usr/local/share/gz:$HOME/ws/install/share/gz

where $HOME/ws is an example colcon workspace used to build Gazebo

Documentation

See the installation tutorial.

Folder Structure

Refer to the following table for information about important directories and files in this repository.

gz-launch
├── examples                 Example launch configurations.
├── include/gz/launch  Header files.
├── plugins                  Launch plugins, one per subdirectory.
├── src                      Source files and unit tests.
├── test
│    ├── integration         Integration tests.
│    ├── performance         Performance tests.
│    └── regression          Regression tests.
├── tools                    Some useful tools such as linters
├── tutorials                Tutorials
├── Changelog.md             Changelog.
└── CMakeLists.txt           CMake build script.

Contributing

Please see the contribution guide.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

This library uses Semantic Versioning. Additionally, this library is part of the Gazebo project which periodically releases a versioned set of compatible and complimentary libraries. See the Gazebo website for version and release information.

License

This library is licensed under Apache 2.0. See also the LICENSE file.

See the Gazebo contributing guide.