Maintainer: nate AT openrobotics DOT org
| Build | Status |
|---|---|
| Test coverage |  |
| Ubuntu Jammy | |
| Homebrew | |
| Windows |
Gazebo Launch, a component of Gazebo, provides a command line interface to run and manager application and plugins.
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.
- Automatic ERB parsing of configuration files.
- Pass arguments to launch files from the command line.
- Plugins to launch Gazebo Sim, joystick interface, and a websocket server for simulation.
See the installation tutorial.
Sample launch configuration files are in the examples directory.
Example
-
Run a configuration that launches Gazebo.
gz launch sim.gzlaunch
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 for a single package is to define the environment variable
GZ_CONFIG_PATH to point to the location of the Gazebo library installation,
where the YAML file for the package is found, such as
export GZ_CONFIG_PATH=/usr/local/share/gz
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 Gazebo libraries on the command line is using symbolic links to each library's YAML file.
mkdir ~/.gz/tools/configs -p
cd ~/.gz/tools/configs/
ln -s /usr/local/share/gz/fuel4.yaml .
ln -s /usr/local/share/gz/transport7.yaml .
ln -s /usr/local/share/gz/transportlog7.yaml .
...
export GZ_CONFIG_PATH=$HOME/.gz/tools/configs
This issue is tracked here.
See the installation tutorial.
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.
Please see the contribution guide.
Please see CODE_OF_CONDUCT.md.
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.
This library is licensed under Apache 2.0. See also the LICENSE file.