GZ(1) | GZ(1) |
NAME¶
gz - Gazebo command line tool for control and analysis.
SYNPOSIS¶
gz command [option]... [argument]...
COMMANDS¶
camera¶
gz camera [options]
Change properties of a camera. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used. A camera name is required.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -w, --world-name=arg
- World name.
- -c, --camera-name=arg
- Camera name. Use gz camera -l to get a list of camera names.
- -l, --list
- List all cameras
- -f, --follow=arg
- Model to follow.
debug¶
gz debug [options]
Used primarily for bash completion, this tool return the completion list for a given command.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -o, --option=arg
- Show the command options.
help¶
gz help [options]
Output information about a gz command.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
joint¶
gz joint [options]
Change properties of a joint. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used. A model name and joint name are required.
It is recommended to use only one type of command: force, position PID, or velocity PID.
Force: Use --force to apply a force.
Position PID: Use --pos-t to specify a target position with --pos-p, --pos-i, --pos-d to specify the PID parameters.
Velocity PID: Use --vel-t to specify a target velocity with --vel-p, --vel-i, --vel-d to specify the PID parameters.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -w, --world-name=arg
- World name.
- -m, --model-name=arg
- Model name.
- -j, --joint-name=arg
- Joint name.
- -d, --delete
- Delete a model.
- -f, --force=arg
- Force to apply to a joint (N).
- --pos-t=arg
- Target angle(rad) for rotation joints or position (m) for linear joints.
- --pos-p=arg
- Position proportional gain.
- --pos-i=arg
- Position integral gain.
- --pos-d=arg
- Position differential gain.
- --vel-t=arg
- Target speed (rad/s for rotational joints or m/s for linear joints).
- --vel-p=arg
- Velocity proportional gain.
- --vel-i=arg
- Velocity integral gain.
- --vel-d=arg
- Velocity differential gain.
log¶
gz log [options]
Introspect and manipulate Gazebo log files. The log command can also start and stop data log recording from an active Gazebo server.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -i, --info
- Output information about a log file. Log filename should be specified using the --file option
- -e, --echo
- Output the contents of a log file to screen.
- -s, --step
- Step through the contents of a log file.
- -d, --record=arg
- Start/stop recording a log file from an active Gazebo server.O=stop record, 1=start recording.
- -w, --world-name=arg
- World name, used when starting or stopping recording.
- -r, --raw
- Output the data from echo and step without XML formatting.Used in conjuction with --echo or --step.
- --stamp=arg
- Add a timestamp to each line of output. Valid values are (sim,real,wall)
- -z, --hz=arg
- Filter output to the specified Hz rate.Only valid for echo and step commands.
- -f, --file=arg
- Path to a log file.
- -o, --output=arg
- Output file, valid in conjunction with the filter, raw, hz, and encoding commands. By default, the output file will have the same encoding as the source file. Override with the --encoding option
- -n, --encoding=arg
- Specify the encoding (txt, zlib, or bz2) for an output file. Valid in conjunction with the output command. See also the --output argument.
- --filter=arg
- Filter output. Valid only with the echo, step, and output commands
marker¶
gz marker [options]
Add, modify, or delete visual markers.
Option Details
-a, --add: No argument
This option indicates that a marker should be added or modified. Use this in conjunction with -t to specify a marker type, -i to specify a marker id, -p to specify a parent, -f to specify a lifetime for the marker, or -n to specify a namespace.
-n, --namespace: string argument
Namespaces allow markers to be grouped. This option can be used the -a and -x command. The default namespace is empty string.
-i, --id: integer argument
Each marker has a unique id. Use this option with the -a command to assign an id to a marker. If -i is not specified, a value of zero will be used.
-t, --type: string argument
Use this command with -a to specify a marker type. The string argument must be one of: sphere, box, cylinder, line_list, line_strip, points, sphere, text, triangle_fan, triangle_list, triangle_strip.
-p, --parent: string argument
A marker can be attached to an existing visual. Use this command with -a to specify a parent visual. By default a marker is not attached to a parent visual.
-f, --lifetime: double argument
A marker's lifetime is the number of seconds that it will exist. Time starts counting when the marker is created. By default a marker has an infite lifetime.
-d, --delete: integer argument
This option will delete a single marker, if a marker exists with the specified id. The integer argument is the id of the marker to delete.
-x, --delete-all: no argument
Delete all markers.
-l, --list: no argument
List all markers.
-y, --layer: integer argument
Add or move a marker to the specified layer. Use this argument with the -a argument.
-m, --msg: string argument
Use this option to send a custom marker message. This option will override all other command line options. Details about the marker message can be found using:
$ ign msg -i ign_msgs.Marker
Example:
$ gz marker -m 'action: ADD_MODIFY, type: SPHERE, id: 2, scale: {x:0.2, y:0.4, z:1.2}'
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -a, --add
- Add or modify a visual marker
- -m, --msg=arg
- Specify and send a marker message.
- -n, --namespace=arg
- Namespace for the visual marker
- -i, --id=arg
- Positive integer value of a visual marker
- -t, --type=arg
- Type of geometry: box, cylinder, sphere, line_list, line_strip, points, text, triangle_fan, triangle_list, triangle_strip
- -p, --parent=arg
- Name of a visual to which this marker should be attached.
- -f, --lifetime=arg
- Simulation time the marker should last before deletion.
- -d, --delete
- Delete an existing visual marker.
- -x, --delete-all
- Delete all markers, or all markers in a namespace.
- -l, --list
- Get a list of the visual markers.
- -y, --layer=arg
- Add or move a marker to the specified layer.
model¶
gz model [options]
Change properties of a model, delete a model, or spawn a new model. If a name for the world, option -w, is not pecified, the first world found on the Gazebo master will be used.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -m, --model-name=arg
- Model name.
- -w, --world-name=arg
- World name.
- -d, --delete
- Delete a model.
- -f, --spawn-file=arg
- Spawn model from SDF file.
- -s, --spawn-string
- Spawn model from SDF string, pass by a pipe.
- -i, --info
- Output model state information to the terminal.
- -p, --pose
- Output model pose as a space separated 6-tuple: x y z roll pitch yaw.
- -x, --pose-x arg x value
- -y, --pose-y arg y value
- -z, --pose-z arg z value
- -R, --pose-R arg roll in radians.
- -P, --pose-P arg pitch in radians.
- -Y, --pose-Y arg yaw in radians.
physics¶
gz physics [options]
Change properties of the physics engine on a specific world. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -w, --world-name=arg
- World name.
- -g, --gravity=arg
- Gravity vector. Comma separated 3-tuple without whitespace, eg: -g 0,0,-9.8
- -s, --step-size=arg
- Maximum step size (seconds).
- -i, --iters=arg
- Number of iterations.
- -u, --update-rate=arg
- Target real-time update rate.
- -o, --profile=arg
- Preset physics profile.
sdf¶
gz sdf [options]
Introspect, convert, and output SDF files. Use the -v option to specify the version of SDF for use with other options.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -d, --describe
- Print SDF format for given version(-v).
- -c, --convert=arg
- In place conversion of arg to the latest SDF version.
- -o, --doc
- Print HTML SDF. Use -v to specify version.
- -k, --check=arg
- Validate arg.
- -v, --version=arg
- Version of SDF to use with other options.
- -p, --print=arg
- Print arg, useful for debugging and as a conversion tool.
stats¶
gz stats [options]
Print gzserver statics to standard out. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -w, --world-name=arg
- World name.
- -d, --duration=arg
- Duration (seconds) to run.
- -p, --plot
- Output comma-separated values, useful for processing and plotting.
topic¶
gz topic [options]
Print topic information to standard out. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -w, --world-name=arg
- World name.
- -l, --list
- List all topics.
- -i, --info=arg
- Get information about a topic.
- -e, --echo=arg
- Output topic data to screen.
- -v, --view=arg
- View topic data using a QT widget.
- -z, --hz=arg
- Get publish frequency.
- -b, --bw=arg
- Get topic bandwidth.
- -u, --unformatted
- Output data from echo without formatting.
- -d, --duration=arg
- Duration (seconds) to run. Applicable with echo, hz, and bw
world¶
gz world [options]
Change properties of a Gazebo world on a running server. If a name for the world, option -w, is not specified the first world found on the Gazebo master will be used.
Options:
- --verbose
- Print extra information
- -h, --help
- Print this help message
- -w, --world-name=arg
- World name.
- -p, --pause=arg
- Pause/unpause simulation. 0=unpause, 1=pause.
- -s, --step
- Step simulation one iteration.
- -m, --multi-step=arg
- Step simulation mulitple iteration.
- -r, --reset-all
- Reset time and model poses
- -t, --reset-time
- Reset time
- -o, --reset-models
- Reset models
September 2014 |