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2017-02-17 16:14:16 -0500 commented question Which SDFormat corresponds to version of Gazebo

Gazebo7 should support SDF 1.6 but I cannot find a clear answer by simply looking at dpkg, changelogs or

2017-02-14 14:59:07 -0500 answered a question gazebo 6.7 multithreading

There are many threads running in gzclient already. You can also start a new thread in your gzclient plugins.

2017-02-02 18:05:12 -0500 commented answer Tutorial: Intermediate: Connect to ROS - Laser is not spinning

Can you also send the model sdf file?

2017-02-01 17:23:30 -0500 answered a question Tutorial: Intermediate: Connect to ROS - Laser is not spinning


So I used the files you posted, and I compiled them on my machine. Without any changes, I was able to get the laser spinning. So my guess is that there's a problem in your model file (which you forgot to post). Here's a world file (that embeds a velodyne model) that worked for me. Try it out and let us know if it works (or not).


2017-01-26 16:17:41 -0500 commented question Can topics messages get silently dropped?

Messages should be dropped if they are sent when both the publisher and the subscriber are ready.

2017-01-26 12:53:01 -0500 commented question Gazebo node cannot see Gazebo Topic, need help understanding why

Make sure there is no typo in the topic name for your subscribe call. Can you provide code and what Gazebo version you are using?

2017-01-20 17:37:57 -0500 answered a question Single stepping - ways to speed it up?

If I understand your architecture correctly, your Simulink process sends a world control over the network in between each step.

This could add a lot of networking overhead and may slow down the most critical simulation loop, and leave little time for simulation.

  • Do you know how fast you can do this in an empty world (without an models)? This could give you an idea of the maximum performance you can expect.

  • Can you generate code from Simulink and run it from inside a Gazebo plugin?

2017-01-19 17:43:54 -0500 answered a question .sdf and .world file (correct usage)

Both world and sdf files share the same SDF format. The world file describes a scene that contains objects and models (robots are models). You can define models directly in a world file, and you see this often in our tutorials.

But when models are in their own .sdf files, they can be reused and featured in multiple worlds. Our model database, for example, contains many model .sdf files.

Finally, when Gazebo starts, it expects a world file, not a single model.

2017-01-18 11:57:50 -0500 received badge  Enthusiast
2016-06-14 12:23:33 -0500 answered a question Can I access the list of topics via gazebojs in a way similar to using gz topic -l command?

This feature would be very useful to have, but its not supported by gazebojs at this time.

2016-05-09 12:43:29 -0500 answered a question GZWeb: Split web server from simulation server?

If you want to run gzweb on a different machine than gzserver, set the Gazebo master to the remote gzserver machine and port. For example, if your gzweb is running from ip and you want gzserver to run from machine, use this command in the same terminal you invoke


2016-03-08 12:33:05 -0500 answered a question GazeboJS - Resetting world state

When running the script in the terminal, the script is run and then the node process shuts down. There is a problem during shutdown, because the Gazebo transport seems to die prematurely. This is not a problem when typing into the terminal, because the Gazebo transport is not shutdown in the same way. It is a known problem, but there is no fix yet. Sometimes you can get around this problem by keeping the node process alive for a few seconds after the last message is sent to the simulation server.

2015-09-24 12:12:28 -0500 received badge  Nice Answer (source)
2015-09-23 13:52:39 -0500 answered a question Problems extruding svg files in Gazebo

The SVG import only works on SVG paths. It also assumes that path sections don't cross each other. Paths don't have to be closed: a contour can be made of multiple paths.

Also, the importer does not support SVG transforms yet. If the string "transform" appears in your SVG file, try to remove it, tweak the image with the SVG editor, and save it again.

Attaching the SVG file is a good idea, because there are multiple ways to generate the same geometry with SVG.

2015-03-31 14:09:03 -0500 received badge  Teacher (source)
2015-03-31 13:58:57 -0500 answered a question GZWeb: Security Options?

Hi Jordan,

Unfortunately, gzweb does not support any security for the moment. We will probably add it as a feature in the future, but there is no time frame. If you want to add your own, you will have to secure 2 separate servers:

  • The node http server that serves the web app (in http/client)
  • The websocket server that publishes and subscribes to the Gazebo server (gzbridge)

Hugo Boyer, OSRF

2014-06-02 19:57:44 -0500 answered a question Problems with

It looks like your SoftLayer API is not installed correctly. Did you "sudo pip install softlayer"?

sudo apt-get install -y redis-server python-pip python-redis python-novaclient

sudo pip install --upgrade boto

sudo apt-get install -y expect

sudo pip install softlayer

see here for more details:

2013-01-29 13:10:11 -0500 answered a question cloudsim spawns high CPU instance (paid) on free EC2 AWS

Gazebo runs best with a strong cpu/gpu combination, because it generates camera images for the sensors, and performs rigid body dynamics simulation. The market for GPU equipped cloud machines available on demand is very restricted at the moment.

CloudSim is developed in the context of DARPA's Challenge where simulation of complex world and walking robots must be achieved in real time.

For these reasons, CloudSim is designed around these expensive machines... right now.

Running on cheaper machines (or even free ones) is an important long term goal for CloudSim, in scenarios where real time performance is not an issue. Stay tuned.

2012-12-11 13:57:14 -0500 answered a question issues

Hi Chris,

Sorry for the confusion. You need to use the "AWS access keys", AWS provides them on the Access Keys tab on the AWS Security Credentials page. I have updated my answer to your other question.

Using the AWS access keys should help you get your "Unauthorized" problem.


2012-12-11 13:42:43 -0500 commented answer cloudsim doesn't accept .pem file arguments

CloudSim uses Access Keys (not key pairs, sorry) to connect to AWS. AWS provides them on the Access Keys tab on the AWS Security Credentials page.

2012-12-11 13:40:00 -0500 received badge  Editor (source)
2012-12-10 21:02:36 -0500 answered a question cloudsim doesn't accept .pem file arguments


You must use AWS Access Keys because CloudSim interacts with Amazon Web Services over the REST api. Pem files are used to login to machines instances via SSH.

Also: please use the latest version of CloudSim (1.0.1 or later), it fixes important security issues.

2012-11-11 21:27:13 -0500 answered a question DRC Simulator can't run again, after installing Gazebo!

Try installing drcsim. The stand-alone Gazebo installation instructions are for users of Gazebo that do not want to install the DRC simulation.

sudo apt-get install drcsim