Maintainer: louise AT openrobotics DOT org
| Build | Status |
|---|---|
| Test coverage |  |
| Ubuntu Bionic | |
| Homebrew | |
| Windows |
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.
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Dynamics simulation: Access multiple high-performance physics engines through Ignition Physics.
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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.
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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
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Plugins: Develop custom plugins for robot, sensor, and environment control.
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Graphical interface: Create, instrospect and interact with your simulations through plugin-based graphical interfaces powered by Ignition GUI.
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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.
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TCP/IP Transport: Run simulation on remote servers and interface to Ignition Gazebo through socket-based message passing using Ignition Transport.
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Command line tools: Extensive command line tools for increased simulation introspection and control.
We recommend following the Binary Install instructions to get up and running as quickly and painlessly as possible.
The Source Install instructions should be used if you need the very latest software improvements, you need to modify the code, or you plan to make a contribution.
The binary install method will use pre-built packages which are typically available through a package management utility such as Apt. This approach eliminates the need to download and compile source code, and dependencies are handled for you. The downside of a binary install is that you won't be able to modify the code. See Source Install for information on installing Ignition Gazebo from source.
Ubuntu Bionic
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Configure package repositories.
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list'wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -sudo apt-get update -
Install Ignition Gazebo
sudo apt-get install libignition-gazebo<#>-devWhere
<#>is the desired version number, like 3 or 4.
Install from source if you're interested in changing the source code or need a feature which hasn't been released yet.
Ignition Gazebo has a fairly large set of dependencies. Refer to the following sections for dependency installation instructions for each supported operating system.
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Enable the Ignition software repositories:
sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-prerelease `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-prerelease.list'wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -sudo apt-get update -
Install package dependencies:
git clone https://github.com/ignitionrobotics/ign-gazebo -b mainexport SYSTEM_VERSION=bionic sudo apt -y install \ $(sort -u $(find . -iname 'packages-'$SYSTEM_VERSION'.apt' -o -iname 'packages.apt') | tr '\n' ' ')
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Install prerequisites
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Configure gcc8
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Ubuntu
sudo apt-get install g++-8sudo update-alternatives --install /usr/bin/gcc gcc /usr/bin/gcc-8 800 --slave /usr/bin/g++ g++ /usr/bin/g++-8 --slave /usr/bin/gcov gcov /usr/bin/gcov-8
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Clone the repository if you haven't already.
git clone https://github.com/ignitionrobotics/ign-gazebo -b main -
Configure and build.
cd ign-gazebo mkdir build cd build cmake ../ make
Gazebo can be run from the command line, once installed, using:
ign gazebo
For help, and command line options use:
ign gazebo -h
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/fuel6.yaml .
ln -s /usr/local/share/ignition/transport10.yaml .
ln -s /usr/local/share/ignition/transportlog10.yaml .
...
export IGN_CONFIG_PATH=$HOME/.ignition/tools/configs
This issue is tracked here.
API documentation and tutorials can be accessed at https://ignitionrobotics.org/libs/gazebo
You can also generate the documentation from a clone of this repository by following these steps.
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You will need Doxygen. On Ubuntu Doxygen can be installed using
sudo apt-get install doxygen -
Clone the repository
git clone https://github.com/ignitionrobotics/ign-gazebo -
Configure and build the documentation.
cd ign-gazebo mkdir build cd build cmake ../ make doc -
View the documentation by running the following command from the
builddirectory.firefox doxygen/html/index.html
Follow these steps to run tests and static code analysis in your clone of this repository.
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Follow the source install instructions.
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Run tests.
make test -
Static code checker.
sudo apt-get update && sudo apt-get -y install cppcheckmake codecheck
See the Writing Tests section of the contributor guide for help creating or modifying tests.
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.
Please see CONTRIBUTING.md.
Please see CODE_OF_CONDUCT.md.
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.
This library is licensed under Apache 2.0. See also the LICENSE file.