Learning Robotics using Python - Second Edition

Testing Gazebo with the ROS interface

Assuming that the ROS environment is properly set up, we can start roscore before starting Gazebo using the following command:

    $ roscore  

The following command will run Gazebo using ROS:

    $ rosrun gazebo_ros gazebo  

Gazebo runs two executables-the Gazebo server and the Gazebo client. The Gazebo server will execute the simulation process and the Gazebo client can be the Gazebo GUI. Using the previous command, the Gazebo client and server will run in parallel.

The Gazebo GUI is shown in the following screenshot:

The Gazebo simulator

After starting Gazebo, the following topics will be generated:

$ rostopic ...