Gazebo Garden

Intro

Compatibility warning

Note: Garden binaries are provided for Ubuntu Focal and Jammy

For Humble, you need to either install the unofficial package (see next section) or install from source

Binary installation

Binary Installation

• Install necessary tools

sudo apt-get update
sudo apt-get install lsb-release wget gnupg

• Install Gazebo Garden

sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden

• Uninstall binary install
  • If you need to uninstall Gazebo or switch to a source-based install once you have already installed the library from binaries

sudo apt remove gz-garden && sudo apt autoremove

Install non-default Gazebo Garden/Humble pairing

https://gazebosim.org/docs/latest/ros_installation/#installing-non-default-gazebo-ros-2-pairings

📦 Gazebo Garden with ROS 2 Humble, Iron or Rolling (Use with caution)

• Install ros_gz from the non official binary packages from apt
  • These packages conflict with ros-humble-ros-gz* packages (Humble officially supports Gazebo Fortress)

apt-get install ros-humble-ros-gzgarden

• Verify installation

gz --version

The 'gz' command provides a command line interface to the Gazebo Tools.

  gz <command> [options]

List of available commands:

  help:          Print this help text.
  fuel:          Manage simulation resources.
  gazebo:        Deprecated. Alias for sim.
  gui:           Launch graphical interfaces.
  launch:        Run and manage executables and plugins.
  log:           Record or playback topics.
  model:         Print information about models.
  msg:           Print information about messages.
  param:         List, get or set parameters.
  plugin:        Print information about plugins.
  sdf:           Utilities for SDF files.
  service:       Print information about services.
  sim:           Run and manage the Gazebo Simulator.
  topic:         Print information about topics.

Options:

  --force-version <VERSION>  Use a specific library version.
  --versions                 Show the available versions.
  --commands                 Show the available commands.
Use 'gz help <command>' to print help for a command.

• Run Gazebo Garden Quick start

gz sim -v

[Msg] Gazebo Sim GUI    v7.9.0
[Msg] Copied installed config [/usr/share/gz/gz-sim7/gui/gui.config] to default config [/home/chxtio/.gz/sim/7/gui.config].
[Msg] Gazebo Sim Quick start dialog

Tutorials

• Gazebo Sim API reference
• Use ROS 2 to interact with Gazebo

Gazebo Garden ROS Integration

• Resources
  • Launch Gazebo from ROS 2
  • Install ros_gz_sim package
• Launch Gazebo (quick start) as a ROS node

ros2 launch ros_gz_sim gz_sim.launch.py

• Launch Gazebo using the empty.sdf world

ros2 launch ros_gz_sim gz_sim.launch.py gz_args:=empty.sdf

• See instructions-for-gazebo-garden for more

Extra worlds

Garden Moon

[1/6/25]

• Select dem_moon.sdf from Quick Start

gz sim -v

Lunar Base

Gazebo Garden Released

The simulation team at Open Robotics has put together a demo world that showcases all the new features available in Garden. Most notably, the demo world is set on the moon modeled using a Digital Elevation Model (DEM) of the moon created by NASA. You’ll also find a lunar base inside of which is a small lake visualized using custom shaders which are now available in Garden.

• Run garden_demo

git clone https://github.com/gazebosim/garden_demo
export GZ_SIM_RESOURCE_PATH=`pwd`/garden_demo/models:$GZ_SIM_RESOURCE_PATH
gz sim -v 4 "garden_demo/garden.sdf"