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Open source robotics simulator. Through Ignition Gazebo users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services. Ignition Gazebo is derived from Gazebo, and …

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Ignition Gazebo : A Robotic Simulator

Maintainer: louise AT openrobotics DOT org

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Ignition Gazebo is an open source robotics simulator. Through Ignition Gazebo, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.

Ignition Gazebo is derived from Gazebo and represents over 16 years of development and experience in robotics and simulation. This library is part of the Ignition Robotics project.

Table of Contents

Features

Install

Usage

Documentation

Testing

Folder Structure

Code of Conduct

Contributing

Versioning

License

Features

  • Dynamics simulation: Access multiple high-performance physics engines through Ignition Physics.

  • Advanced 3D graphics: Through Ignition Rendering, it's possible to use rendering engines such as OGRE v2 for realistic rendering of environments with high-quality lighting, shadows, and textures.

  • Sensors and noise models: Generate sensor data, optionally with noise, from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors, force-torque, IMU, GPS, and more, all powered by Ignition Sensors

  • Plugins: Develop custom plugins for robot, sensor, and environment control.

  • Graphical interface: Create, instrospect and interact with your simulations through plugin-based graphical interfaces powered by Ignition GUI.

  • Simulation models: Access numerous robots including PR2, Pioneer2 DX, iRobot Create, and TurtleBot, and construct environments using other physically accurate models available through Ignition Fuel. You can also build a new model using SDF.

  • TCP/IP Transport: Run simulation on remote servers and interface to Ignition Gazebo through socket-based message passing using Ignition Transport.

  • Command line tools: Extensive command line tools for increased simulation introspection and control.

Install

See the installation tutorial.

Usage

Gazebo can be run from the command line, once installed, using:

ign gazebo

For help, and command line options use:

ign gazebo -h

Known issue of command line tools

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

A workaround for a single package is to define the environment variable IGN_CONFIG_PATH to point to the location of the Ignition library installation, where the YAML file for the package is found, such as

export IGN_CONFIG_PATH=/usr/local/share/ignition

However, that environment variable only takes a single path, which means if the installations from source are in different locations, only one can be specified.

Another workaround for working with multiple Ignition libraries on the command line is using symbolic links to each library's YAML file.

mkdir ~/.ignition/tools/configs -p
cd ~/.ignition/tools/configs/
ln -s /usr/local/share/ignition/fuel7.yaml .
ln -s /usr/local/share/ignition/transport11.yaml .
ln -s /usr/local/share/ignition/transportlog11.yaml .
...
export IGN_CONFIG_PATH=$HOME/.ignition/tools/configs

This issue is tracked here.

# Documentation

See the installation tutorial.

Testing

See the installation tutorial.

See the Writing Tests section of the contributor guide for help creating or modifying tests.

Folder Structure

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

ign-gazebo
├── examples                     Various examples that can be run against binary or source installs of ign-gazebo.
│   ├── plugin                   Example plugins.
│   ├── standalone               Example standalone programs that use ign-gazebo as a library.
│   └── worlds                   Example SDF world files.
├── include/ignition/gazebo      Header files that downstream users are expected to use.
│   └── detail                   Header files that are not intended for downstream use, mainly template implementations.
├── src                          Source files and unit tests.
│   ├── gui                      Graphical interface source code.
│   └── systems                  System source code.
├── test
│   ├── integration              Integration tests.
│   ├── performance              Performance tests.
│   ├── plugins                  Plugins used in tests.
│   ├── regression               Regression tests.
│   └── tutorials                Tutorials, written in markdown.
├── Changelog.md                 Changelog.
├── CMakeLists.txt               CMake build script.
├── Migration.md                 Migration guide.
└── README.md                    This readme.

Contributing

Please see CONTRIBUTING.md.

Code of Conduct

Please see CODE_OF_CONDUCT.md.

Versioning

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

License

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

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Open source robotics simulator. Through Ignition Gazebo users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services. Ignition Gazebo is derived from Gazebo, and …

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