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Using Gazebo without ROS?

asked 2018-07-24 08:53:16 -0500

Mr Seppersburg gravatar image

Hi I have a question. After going through the documentation of Gazebo I am a little frustrated. I really like the sim in ROS but for my current project I can not use ROS.

What I want to do is: Visualize a real robot in a 3D visualization together with additional stuff (like a "ghost" robot showing the goal config, little spheres indicating goal position, frames, etc). So basically I want a lightweight RViz without using ROS.

The documentation links back to ROS all the time so I don't really know if I can use Gazebo.

My questions now are:

  1. Can I simply load urdfs into the simulator (like with pybullet)? 1a. If I can only load SPFs, is there a conversion tool? (Somehow when Gazebo is used in ROS, there are also only URDFs/Urdf-macros used.)
  2. Can I update robot joints continously in a program without ROS (and how?)
  3. Can I disable all collision detection (basically the actual phys. simulation), so I can spawn robots into each other and don't have delayed actuation due to inertia?

Any help would be much appreciated. I think Gazebo should be able to do everything I want, I just don't know how to get there.

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answered 2018-07-25 10:51:34 -0500

updated 2018-07-25 11:29:35 -0500

Using Gazebo without ROS?

Yes, Gazebo is intended to work as a standalone robot simulator / visualizer.


What I want to do is: Visualize a real robot in a 3D visualization together with additional stuff (like a "ghost" robot showing the goal config, little spheres indicating goal position, frames, etc). So basically I want a lightweight RViz without using ROS.

This may be possible via Gazebo Plugins in some of the later version of Gazebo.
See: http://answers.gazebosim.org/question...
and: https://ignitionrobotics.org/home


The documentation links back to ROS all the time so I don't really know if I can use Gazebo.

Have you looked through the Gazebo Tutorials? Many of them cover using Gazebo without ROS.


1) Can I simply load urdfs into the simulator (like with pybullet)?

Yes.
See: http://answers.gazebosim.org/question...


1a) If I can only load SDFs, is there a conversion tool? (Somehow when Gazebo is used in ROS, there are also only URDFs/Urdf-macros used.)

You can load URDFs directly into Gazebo without ROS, but you can also convert a URDF files into a SDF file, using
gz sdf -p my_urdf.urdf > my_sdf.sdf


2) Can I update robot joints continously in a program without ROS (and how?)

Yes, you can do this via a custom Gazebo Plugin.
See: http://gazebosim.org/tutorials?cat=gu...
and: http://gazebosim.org/tutorials?tut=se...
and: https://answers.ros.org/question/2330...


3) Can I disable all collision detection (basically the actual phys. simulation), so I can spawn robots into each other and don't have delayed actuation due to inertia?

Yes.
See: http://answers.gazebosim.org/question...
and: https://answers.ros.org/question/2187...

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Thanks so far, I will look into all the provided links when I have found time. Very thorough answer!

Mr Seppersburg gravatar imageMr Seppersburg ( 2018-07-26 01:59:23 -0500 )edit
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Asked: 2018-07-24 08:53:16 -0500

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Last updated: Jul 25