# Gazebo Sim

> Gazebo Harmonic simulation: ros_gz_bridge, ros_gz_sim, SDF modeling, sensor & diff-drive plugins.

- **Type:** Skill
- **Install:** `agentstack add skill-leehyunbin0131-claude-ros2-skills-gazebo-sim`
- **Verified:** Yes — security-reviewed for prompt injection and unsafe behavior
- **Seller:** [Leehyunbin0131](https://agentstack.voostack.com/s/leehyunbin0131)
- **Installs:** 0
- **Category:** [AI & ML](https://agentstack.voostack.com/c/ai-and-ml)
- **Latest version:** 0.1.0
- **License:** MIT
- **Upstream author:** [Leehyunbin0131](https://github.com/Leehyunbin0131)
- **Source:** https://github.com/Leehyunbin0131/claude-ros2-skills/tree/main/skills/gazebo-sim

## Install

```sh
agentstack add skill-leehyunbin0131-claude-ros2-skills-gazebo-sim
```

Requires the [AgentStack CLI](https://agentstack.voostack.com/docs/cli). Works with Claude Code, Cursor, and any MCP-compatible agent.

## About

# Gazebo Simulation & ROS 2 Integration Instructions (Ubuntu 24.04 LTS)

## 1. Core Principles & Distro Pairings
- **Target OS & Distro Pairings**:
  - **Ubuntu 24.04 LTS & ROS 2 Jazzy**: Officially paired with **Gazebo Harmonic** (`https://gazebosim.org/docs/harmonic/`).
  - *(Legacy reference: Ubuntu 22.04 LTS & ROS 2 Humble pair with Gazebo Fortress `https://gazebosim.org/docs/fortress/`)*.
- **Modern Gazebo Architecture**: Strictly use modern Gazebo Sim (formerly Ignition Gazebo / `gz`) and `ros_gz`. Do not mix legacy Gazebo Classic (`gazebo_ros_pkgs` / `gazebo_ros`) unless explicitly requested for older legacy systems.
- **Zero-Hallucination Policy**: Always verify plugin system filenames (e.g., `gz-sim-diff-drive-system`), SDF tags, and `ros_gz_bridge` topic syntax against official documentation.

## 2. Official Documentation Reference Directives
Whenever creating simulation worlds, URDF/SDF models, Gazebo sensor plugins, or `ros_gz` launch files:

### A. Master Gazebo Documentation Portals
- **Gazebo Sim Master Docs**: `https://gazebosim.org/docs`
- **Gazebo Harmonic Docs (Jazzy)**: `https://gazebosim.org/docs/harmonic/`
- **Gazebo Fortress Docs (Humble)**: `https://gazebosim.org/docs/fortress/`
- **SDFormat Specification**: `https://sdformat.org/`

### B. ROS 2 & Gazebo Integration (`ros_gz`)
- **`ros_gz` Repository & Integration Guide**: `https://github.com/gazebosim/ros_gz`
- **`ros_gz_bridge` Topic Bridge**: `https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_bridge`
  - *Description*: Bidirectional topic bridging between Gazebo Transport and ROS 2 topics (`/scan`, `/odom`, `/cmd_vel`, `/camera/image_raw`, `/imu`).
  - *Bridge Syntax*: `ros2 run ros_gz_bridge parameter_bridge /scan@sensor_msgs/msg/LaserScan[gz.msgs.LaserScan` or YAML bridge config files.
- **`ros_gz_sim` Launch & Spawning**: `https://github.com/gazebosim/ros_gz/tree/ros2/ros_gz_sim`
  - *Description*: Launching Gazebo world files (`.sdf`), spawning robot models using `ros_gz_sim create -topic robot_description` or `gz_sim.launch.py`.

### C. Nav2 Simulation Setup Guides
- **Nav2 Setup Guide for Gazebo**: `https://docs.nav2.org/setup_guides/gazebo.html`
- **URDF & Robot State Publisher Setup**: `https://docs.nav2.org/setup_guides/urdf/setup_urdf.html`
- **SDF World & Model Setup**: `https://docs.nav2.org/setup_guides/sdf/setup_sdf.html`
- **Simulating Odometry in Gazebo**: `https://docs.nav2.org/setup_guides/odom/setup_odom_gz.html`
  - *Description*: Differential drive plugin (`gz-sim-diff-drive-system`) setup and broadcasting `odom` -> `base_link`.
- **Simulating Sensors in Gazebo**: `https://docs.nav2.org/setup_guides/sensors/setup_sensors_gz.html`
  - *Description*: Configuring GPU Lidar (`gpu_lidar`), IMU (`imu`), and Depth Camera sensors in Gazebo Sim.

## 3. Sensor & Motion Plugins Reference (SDF)

### A. Differential Drive Motion Plugin
```xml

  left_wheel_joint
  right_wheel_joint
  0.3
  0.05
  50
  /cmd_vel
  /odom
  odom
  base_link

```

### B. GPU LiDAR Sensor Plugin
```xml

  10
  /scan
  
    
      
        360
        1
        -3.14159
        3.14159
      
    
    
      0.15
      12.0
    
  
  
    ogre2
  

```

## 4. Symptom -> Root Cause -> Action

| Symptom | Likely root cause | Action |
| :--- | :--- | :--- |
| Robot spawns then falls through the ground | Missing `` on links, or zero/invalid `` | Add collision geometry; give every non-fixed link real mass and inertia |
| `/cmd_vel` published but robot doesn't move in sim | Bridge direction wrong (`[` is GZ->ROS, `]` is ROS->GZ, `@` bidirectional) or plugin `` mismatch | Check bridge arg direction char; `gz topic -l` to see what the plugin actually subscribes to |
| LiDAR/camera topic exists but publishes nothing | `gz-sim-sensors-system` plugin missing from the world SDF (rendering sensors need it) | Add `` with `render_engine` to the world |
| IMU topic silent in sim | `gz-sim-imu-system` world plugin missing | Add the IMU system plugin to the world SDF |
| TF extrapolation errors as soon as sim starts | `/clock` not bridged, or nodes missing `use_sim_time: true` | Bridge `/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock`; set `use_sim_time` on every node |
| Sensor data arrives in an unknown/prefixed frame | Gazebo composes frame as `//` while URDF expects the bare link name | Set explicit ``/frame remapping, or align `frame_id` with the URDF link |
| Sim odometry perfect but Nav2 behaves differently on the real robot | Sim plugin uses ideal kinematics; real `wheel_radius`/friction differ | Never tune Nav2 solely in sim; re-verify on hardware with `scripts/check_odom_direction.py` |

## 5. Local System Verification
Check installed Gazebo & ROS 2 bridge packages locally:
- Run `ros2 pkg prefix ros_gz_bridge` to inspect bridge dependencies.
- Run `gz sim --version` in terminal to confirm active Gazebo Harmonic or Fortress version.

## Source & license

This open-source skill is cataloged on AgentStack and links to its original source — we do not rehost the code.

- **Author:** [Leehyunbin0131](https://github.com/Leehyunbin0131)
- **Source:** [Leehyunbin0131/claude-ros2-skills](https://github.com/Leehyunbin0131/claude-ros2-skills)
- **License:** MIT

Install and usage instructions live in the source repository linked above.

## Pricing

- **Free** — Free

## Security capabilities

Automated source analysis of v0.1.0 — what this tool can access:

- **Network access:** no
- **Filesystem access:** no
- **Shell / process execution:** no
- **Environment & secrets:** no
- **Dynamic code execution:** no

*"Yes" means the capability is present in the source — more access means more to trust, not that it is unsafe.*


## Versions

- **0.1.0** — security scan: passed — Imported from the upstream source.

## Links

- Listing page: https://agentstack.voostack.com/l/skill-leehyunbin0131-claude-ros2-skills-gazebo-sim
- Seller: https://agentstack.voostack.com/s/leehyunbin0131
- Browse the marketplace: https://agentstack.voostack.com/browse

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Listed on AgentStack — the marketplace for AI agent skills and MCP servers. Every listing is security-reviewed. Creators keep 70%.