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Contents
Contents
Player/Stage project
USC Robotics Research Laboratory
University of Southern California
Los Angeles, California, USA
Gazebo
Version 0.4.0 User Manual
Andrew Howard
ahoward@usc.edu
Nathan Koenig
nkoenig@usc.edu
May 31, 2004
Contents
1. Introduction
1.1 What is Gazebo?
1.2 Stage and Gazebo
1.3 Getting Gazebo
1.4 System Requirements
1.5 Bugs
1.6 License
1.7 Acknowledgments
1 User Guide
2. General Usage
2.1 Installing Third-Party Dependencies
2.2 Building and Installing Gazebo
2.3 Starting Gazebo
2.4 Working with Player
2.5 Command Line Options
3. The World File
3.1 Key Concepts and Basic Syntax
3.2 Graphical User Interface
3.3 Canonical World File Layout
3.4 Coordinate Systems and Units
4. Working with Player
4.1 Setting up the Simulation
4.2 Example: Using a Single Robot
4.3 Example: Using a Single Robot with the VFH driver
4.4 Example: Using Multiple Robots
4.5 Example: Using Multiple Robots with
-gazebo-prefix
5. Non-model Reference
5.1 Global Paramamerters
6. Model Reference
6.1
AvatarHeli
Authors
6.1.1 Overview
6.1.2
libgazebo
Interfaces
6.1.3 Player Drivers
6.1.4 World File Attributes
6.1.5 Body Attributes
6.2
Blimp
Authors
6.2.1 Overview
6.2.2
libgazebo
Interfaces
6.2.3 Player Drivers
6.2.4 World File Attributes
6.2.5 Body Attributes
6.3
ClodBuster
Authors
6.3.1 Overview
6.3.2
libgazebo
Interfaces
6.3.3 Player Drivers
6.3.4 World File Attributes
6.3.5 Body Attributes
6.4
Factory
Authors
6.4.1 Overview
6.4.2
libgazebo
Interfaces
6.4.3 Player Drivers
6.4.4 World File Attributes
6.4.5 Body Attributes
6.5
GarminGPS
Authors
6.5.1 Overview
6.5.2
libgazebo
Interfaces
6.5.3 Player Drivers
6.5.4 World File Attributes
6.5.5 Body Attributes
6.6
GroundPlane
Authors
6.6.1 Overview
6.6.2
libgazebo
Interfaces
6.6.3 Player Drivers
6.6.4 World File Attributes
6.6.5 Body Attributes
6.7
LightSource
Authors
6.7.1 Overview
6.7.2
libgazebo
Interfaces
6.7.3 Player Drivers
6.7.4 World File Attributes
6.7.5 Body Attributes
6.8
MapExtruder
Authors
6.8.1 Overview
6.8.2
libgazebo
Interfaces
6.8.3 Player Drivers
6.8.4 World File Attributes
6.8.5 Body Attributes
6.9
ObserverCam
Authors
6.9.1 Overview
6.9.2 World File Attributes
6.9.3 Windows
6.9.4 Body Attributes
6.10
Pioneer2AT
Authors
6.10.1 Overview
6.10.2
libgazebo
Interfaces
6.10.3 Player Drivers
6.10.4 World File Attributes
6.10.5 Body Attributes
6.11
Pioneer2DX
Authors
6.11.1 Overview
6.11.2
libgazebo
Interfaces
6.11.3 Player Drivers
6.11.4 World File Attributes
6.11.5 Body Attributes
6.12
Pioneer2Gripper
Authors
6.12.1 Overview
6.12.2
libgazebo
Interfaces
6.12.3 Player Drivers
6.12.4 World File Attributes
6.12.5 Body Attributes
6.13
Pioneer2Sonars
Authors
6.13.1 Overview
6.13.2
libgazebo
Interfaces
6.13.3 Player Drivers
6.13.4 World File Attributes
6.13.5 Body Attributes
6.14
PointSet
Authors
6.14.1 Overview
6.14.2
libgazebo
Interfaces
6.14.3 Player Drivers
6.14.4 World File Attributes
6.14.5 Body Attributes
6.15
SegwayRMP
Authors
6.15.1 Overview
6.15.2
libgazebo
Interfaces
6.15.3 Player Drivers
6.15.4 World File Attributes
6.15.5 Body Attributes
6.16
Shrimp
Authors
6.16.1 Overview
6.16.2
libgazebo
Interfaces
6.16.3 Player Drivers
6.16.4 World File Attributes
6.16.5 Body Attributes
6.17
SickLMS200
Authors
6.17.1 Overview
6.17.2
libgazebo
Interfaces
6.17.3 Player Drivers
6.17.4 World File Attributes
6.17.5 Body Attributes
6.18
SimpleSolid
Authors
6.18.1 Overview
6.18.2
libgazebo
Interfaces
6.18.3 Player Drivers
6.18.4 World File Attributes
6.18.5 Body Attributes
6.19
SonyVID30
Authors
6.19.1 Overview
6.19.2
libgazebo
Interfaces
6.19.3 Player Drivers
6.19.4 World File Attributes
6.19.5 Body Attributes
6.19.6 Windows
6.20
Terrain
Authors
6.20.1 Overview
6.20.2
libgazebo
Interfaces
6.20.3 Player Drivers
6.20.4 World File Attributes
6.20.5 Body Attributes
6.21
TotemPole
Authors
6.21.1 Overview
6.21.2
libgazebo
Interfaces
6.21.3 Player Drivers
6.21.4 World File Attributes
6.21.5 Body Attributes
6.22
TruthWidget
Authors
6.22.1 Overview
6.22.2
libgazebo
Interfaces
6.22.3 Player Drivers
6.22.4 World File Attributes
6.22.5 Body Attributes
6.23
WheelChair
Authors
6.23.1 Overview
6.23.2
libgazebo
Interfaces
6.23.3 Player Drivers
6.23.4 World File Attributes
6.23.5 Body Attributes
2 Developer Guide
7. Gazebo Architecture
8. Adding a New Model
8.1 Model Source Files
8.2 Registering the Model
8.3 Working with GNU Autotools
9.
libgazebo
9.1 Introduction
9.2 Architecture
9.3 Devices and Interfaces
9.4 Using
libgazebo
9.5 Building Programs With
libgazebo
10.
libgazebo
Interface Reference
10.1
camera
10.2
factory
10.3
fiducial
10.4
gps
10.5
laser
10.6
position
10.7
power
10.8
ptz
10.9
truth
A. Platform Specific Build Information
A.1 Mac OS X
B. Coding Standards and Conventions
B.1 Gazebo
B.2
libgazebo
About this document ...
2004-05-31
