Gazebo Garden - ROS 2 Integration
Gazabo Garden provides a set of ROS 2 packages to integrate Gazebo with ROS 2. The integration is based on the Gazebo Transport library, which is a set of messages and services that enable the exchange of messages between Gazebo and ROS 2.
Check out the links below to learn more about the integration.
ros_gz_bridge provides a network bridge which enables the exchange of messages between ROS 2 and Gazebo Transport. Its support is limited to only certain message types. Please, check this README to verify if your message type is supported by the bridge.
Gazebo Garden - Topics & Services
Gazebo Transport is a publish-subscribe message passing system. It is designed to be efficient and easy to use. The transport system is based on Google’s Protocol Buffers, a language-neutral, platform-neutral, extensible mechanism for serializing structured data. It allows for fast and efficient asynchronous message passing, services, and data logging.
You can list the topics using the following command:
gz topic -l
You can list the services using the following command:
gz service -l
Gazebo Garden - Example
Refer to the link https://github.com/dannyngweekiat/Gazebo-Garden-Simulation-Example for nav and slam example.