How to Use ROS2 Jazzy and Gazebo Harmonic for Robot Simulation

In this tutorial I explain how to use the newly released ROS2 Jazzy and Gazebo Harmonic to do robot simulation.
OS: Ubuntu 24.04
ROS2: Jazzy
Gazebo-Harmonic

The project is here:

Simulation of a 4WS Robot Using ROS2 Control and Gazebo:

ROS2 Jazzy installation link:

ros_gz_bridge GitHub page:

[MikeZ]

Excellent video. Code worked exactly as presented. Thanks.

[a.t]

you are a awesome. thank you for everything that you do.

[exystaaxyde]

Hello, i have a problem when using gz sim on my terminal the GUI instantly crashes. The gazebo sim window popups but it seems to only be a screenshot of what is on my monitor and i need to manually kill it. I used the recommended command to install : "sudo apt-get install ros-${ROS_DISTRO}-ros-gz" with my ros2 jazzy installation. I tried to reinstall both gazebo and ros2. Any ideas on how i may be able to fix it?

[Mecha_Hacks]

I have an issue, my robot model spawns perfectly in rviz2 but when i spawn it in gazebo only one or two joints are visible and spawned, other 3-4 joints arent visible, the terminal successfully spawns all the joints, but not visible in gazebo, help!!

[elastico_]

hi
i have issues with ros2_control ackerman steering control
i have made 2 steer joints and 4 drive joints.i can steer using using my steer joints and using rear drive joint. but i couldn't move my front drive joints and also how to limit steer angles?
do you have any example script running in teleop_twist_keyboard

[elastico_]

Hi
I'm modelling a Ackerman chassis car in fusion and converting it to urdf. Can I give streer joint and rotation joint at the same place? And both joints are perpendicular?

[elastico_]

hi
i want to use intel d435i in the gazebo sim and i couldn't find plugin
can you suggest how to do?

[hemanthreddy]

Hello, can i know how you craeted these robot files. Can you please help me appreciate it.

[อภิวัฒน์พิทักษ์ศิลป์]

Thank you for making very good content.
what if I don't have the controller, how can I use keyboard to control the robot?
Could you please suggest?

[daffarandika]

hey, I have an issue when running the launch file from your code. And after troubleshooting I was able to determine that the error is from gazebo, any time I run gz sim `something something` it doesn't show anything but the terminal is indicating that the program is still running, so I checked the ~/.gz/auto_default.log file and found this error: "GUI requesting list of world names. The server may be busy downloading resources. Please be patient.". Can you please help me, appreciate it.

[allaboutcontrollers]

gazebo command is not working on the terminal

[ZacharyReid-tl]

Having issues running colcon build in scr dir due to cmake

[sherlockholmes]

I tried to run the following node in launch file:
spawn = Node( package='ros_gz_sim', executable='create', arguments=[ '-entity', 'my_robot', '-string', 'robot_description', ], output='screen', )
I am not getting any errors but it's showing like this.
[create-4] [INFO] [1728369743.553537559] [ros_gz_sim]: Requesting list of world names.

I am using humble with fortress.