gazebo-sim

# Gazebo Simulation & ROS 2 Integration Instructions (Ubuntu 24.04 LTS) ## 1. Architecture Rule Jazzy pairs with **Gazebo Harmonic**. Use modern Gazebo Sim (`gz`, formerly Ignition) and `ros_gz` only — never mix legacy Gazebo Classic (`gazebo_ros_pkgs` / `gazebo_ros`), whose tags and plugin names look similar and do not work here. ## 2. Documentation Entry Points | For | Entry point | | :--- | :--- | | Gazebo Harmonic (the Jazzy pairing) | `https://gazebosim.org/docs/harmonic/` | | SDF tag reference | `https://sdformat.org/` | | `ros_gz` bridge + sim launch/spawn | `https://github.com/gazebosim/ros_gz` | | Nav2's Gazebo bringup walkthrough (URDF, SDF world, odom, sensors) | `https://docs.nav2.org/setup_guides/gazebo.html` | **Bridge syntax** (direction char is the thing people get wrong — see the symptom table): ```bash ros2 run ros_gz_bridge parameter_bridge /scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan ``` Spawning: `ros_gz_sim create -topic robot_description`, or `gz_sim.launch.py`. YAML bridge config files are supported for anything non-trivial. ## 3. Sensor & Motion Plugins Reference (SDF) ### A. Differential Drive Motion Plugin ```xml <plugin filename="gz-sim-diff-drive-system" name="gz::sim::systems::DiffDrive"> <left_joint>left_wheel_joint</left_joint> <right_joint>right_wheel_joint</right_joint> <wheel_separation>0.3</wheel_separation> <wheel_radius>0.05</wheel_radius> <odom_publish_frequency>50</odom_publish_frequency> <topic>/cmd_vel</topic> ...