I want to use gazebo garden with ROS 2 Humble. I need help with the syntax/example to make launch file in ROS 2 to spawn gazebo with .sdf files instead of spawning it through terminal using $ gz sim empty.sdf

The current launch files that are usually available feature the code to launch gazbo-classic. I am looking for the updated code for gazebo garden. I also want to know the difference between gazeo-garden and ign-garden.

Asked by Animesh on 2023-03-02 06:31:48 UTC

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Answers

There's some documentation https://gazebosim.org/docs/garden/ros2_integration and https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim and some examples at https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos/launch

You should be able to start Gazebo using

ros2 launch ros_gz_sim gz_sim.launch.py gz_args:="shapes.sdf"

and spawn a model with

ros2 run ros_gz_sim create

Asked by azeey on 2023-03-03 15:49:40 UTC