# ros_gz **Repository Path**: wja0607/ros_gz ## Basic Information - **Project Name**: ros_gz - **Description**: No description available - **Primary Language**: Unknown - **License**: Apache-2.0 - **Default Branch**: ros2 - **Homepage**: None - **GVP Project**: No ## Statistics - **Stars**: 0 - **Forks**: 0 - **Created**: 2026-04-21 - **Last Updated**: 2026-04-22 ## Categories & Tags **Categories**: Uncategorized **Tags**: None ## README [![Build Status](https://github.com/gazebosim/ros_gz/actions/workflows/ros2-ci.yml/badge.svg?branch=ros2)](https://github.com/gazebosim/ros_gz/actions/workflows/ros2-ci.yml) Package Build Status: [![Package Build Status](https://build.ros2.org/buildStatus/icon?job=Rbin_uN64__ros_gz_bridge__ubuntu_noble_amd64__binary)](https://build.ros2.org/job/Rbin_uN64__ros_gz_bridge__ubuntu_noble_amd64__binary/) ROS 2 version | Gazebo version | Branch | Binaries hosted at -- | -- | -- | -- Humble | Fortress | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | https://packages.ros.org Humble | Garden | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/latest/ros_installation#gazebo-garden-with-ros-2-humble-or-rolling-use-with-caution-)[^1] [^2] Humble | Harmonic | [humble](https://github.com/gazebosim/ros_gz/tree/humble) | [gazebo packages](https://gazebosim.org/docs/harmonic/ros_installation#-gazebo-harmonic-with-ros-2-humble-or-rolling-use-with-caution-)[^1] Jazzy | Garden | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source [^2] Jazzy | Harmonic | [jazzy](https://github.com/gazebosim/ros_gz/tree/jazzy) | https://packages.ros.org Kilted | Ionic | [kilted](https://github.com/gazebosim/ros_gz/tree/kilted) | https://packages.ros.org Rolling | Harmonic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source Rolling | Ionic | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | only from source Rolling | Jetty | [ros2](https://github.com/gazebosim/ros_gz/tree/ros2) | https://packages.ros.org [^1]: Binaries for these pairings are provided from the packages.osrfoundation.org repository. Refer to https://gazebosim.org/docs/latest/ros_installation for installation instructions. [^2]: Note that the Gazebo version on this row has reached end-of-life. For information on ROS(1) and Gazebo compatibility, refer to the [noetic branch README](https://github.com/gazebosim/ros_gz/tree/noetic) [Details about the renaming process](README_RENAME.md) from `ign` to `gz` . **Note**: The `ros_ign` prefixed packages are shim packages that redirect to their `ros_gz` counterpart. Under most circumstances you want to be using the `ros_gz` counterpart. # Integration between ROS and Gazebo ## Packages This repository holds packages that provide integration between [ROS](http://www.ros.org/) and [Gazebo](https://gazebosim.org): * [ros_gz](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz): Metapackage which provides all the other packages. * [ros_gz_image](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_image): Unidirectional transport bridge for images from [Gazebo Transport](https://gazebosim.org/libs/transport) to ROS using [image_transport](http://wiki.ros.org/image_transport). * [ros_gz_bridge](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge): Bidirectional transport bridge between [Gazebo Transport](https://gazebosim.org/libs/transport) and ROS. * [ros_gz_sim](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim): Convenient launch files and executables for using [Gazebo Sim](https://gazebosim.org/libs/gazebo) with ROS. * [ros_gz_sim_demos](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim_demos): Demos using the ROS-Gazebo integration. * [ros_gz_point_cloud](https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_point_cloud): Plugins for publishing point clouds to ROS from [Gazebo Sim](https://gazebosim.org/libs/gazebo) simulations. ## Install This branch supports ROS Rolling. See above for other ROS versions. ### Binaries Rolling binaries are available for Fortress. They are hosted at https://packages.ros.org. 1. Add https://packages.ros.org sudo sh -c 'echo "deb [arch=$(dpkg --print-architecture)] http://packages.ros.org/ros2/ubuntu $(lsb_release -cs) main" > /etc/apt/sources.list.d/ros2-latest.list' curl -s https://raw.githubusercontent.com/ros/rosdistro/master/ros.asc | sudo apt-key add - sudo apt-get update 1. Install `ros_gz` sudo apt install ros-rolling-ros-gz ### From source #### ROS Be sure you've installed [ROS Rolling](https://docs.ros.org/en/rolling/index.html) (at least ROS-Base). More ROS dependencies will be installed below. #### Gazebo The version of Gazebo paired with Rolling will automatically be installed when running `rosdep` below. #### Compile ros_gz The following steps are for Linux and macOS. 1. Create a colcon workspace: ``` # Setup the workspace mkdir -p ~/ws/src cd ~/ws/src # Download needed software git clone https://github.com/gazebosim/ros_gz.git -b ros2 ``` 1. Install dependencies (this may also install Gazebo): ``` cd ~/ws rosdep install -r --from-paths src -i -y --rosdistro rolling ``` > If `rosdep` fails to install Gazebo libraries and you have not installed them before, please follow [Gazebo installation instructions](https://gazebosim.org/docs/latest/install). 1. Build the workspace: ``` # Source ROS distro's setup.bash source /opt/ros//setup.bash # Build and install into workspace cd ~/ws colcon build ``` > [!TIP] > The `ros_gz` library makes heavy use of templates which causes compilers to consume a lot of memory. If your build fails with `c++: fatal error: Killed signal terminated program cc1plus` > try building with `colcon build --parallel-workers=1 --executor sequential`. You might also have to set `export MAKEFLAGS="-j 1"` before running `colcon build` to limit > the number of processors used to build a single package. ## ROSCon 2022 [![](img/video_img.png)](https://vimeo.com/showcase/9954564/video/767127300) ## Project Template [A template project integrating ROS and Gazebo simulator](https://github.com/gazebosim/ros_gz_project_template)