🤖
Introduction to ROS2 and Robotics
  • Introduction
  • ROS2
    • Index
    • IDE and CMake Setup
      • How to add additional include search path
    • ROS2 Building Blocks
      • ROS Workspace and Package Layout
      • Launch File
      • tf2
      • Quality of Service
      • Configurations
        • Rviz Configuration
      • Built-in Types
        • Built-in Message Type
    • ROS Architecture
      • Intra-process Communication
    • Navigation and Planning
      • Navigation Stack and Concepts
      • Navigation2 Implementation Overview
        • 🏗️Cost Map
        • Obstacle Avoidance and DWB Controller
      • DWB Controller
      • Page 5
    • How to launch the Nav2 stack
    • ROS2 Control
      • Online Resources
      • Overview of Codebase
    • 🍳Cookbook
      • Useful Commands
      • How to specify parameters
      • How to build the workspace
      • 🏗️How to publish message to a topic from command line?
      • How to inspect service and make a service call
      • How to properly terminate ROS and Gazebo
      • How to add and remove models in Gazebo simulation dynamically
      • 🚧How to spin nodes
    • 🛒Tutorials
      • Services and Communication between ROS2 and Gazebo
      • Subscription and Message Filters Demo
      • Executor and Spin Explained
      • Lifecycle Node Demo
      • Robotic Arm Demo
      • ⚒️Multiple Robotic Arms Simulation Demo
      • 🚧Introduction to xacro
    • Page
    • 🍺Tech Blog
      • Difference between URDF and SDF and how to convert
  • Gazebo
    • Index
    • Terminology
    • GUI
    • World Frame and Axis
    • Cookbook
    • Page 1
  • Programming in Robotics
    • C++
      • CMake
    • Python
    • Rust
  • Mathematics in Robotics
    • Linear Algebra
    • Matrix Properties
    • Probability
      • Expectation-Maximization Algorithm
    • Multivariable Function and Derivatives
  • Physics in Robotics
  • Control of Dynamic Systems
    • Dynamic Response and Transfer Function
    • Block Diagram
    • PID Controller
  • Robot Modeling and Control
    • Rotation and Homogeneous Transformation
  • Probabilistic Robotics
    • Bayes Filter
    • Kalman Filter
    • Particle Filter
    • Discrete Bayes Filter
    • Motion Model
    • Perception Model
    • Localization
    • SLAM
  • Miscellany
  • Concept Index
    • Quaternions
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  1. Gazebo

Terminology

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Last updated 1 year ago

  • World: The term used to describe a collection of robots and objects (such as buildings, tables, and lights), and global parameters including the sky, ambient light, and physics properties.

  • Static: Entities marked as static (those having the <static>true</static> element in SDF), are objects which only have collision geometry. All objects which are not meant to move should be marked as static, which is a performance enhancement.

  • Dynamic: Entities marked as dynamic (either missing the <static> element or setting false in SDF), are objects which have both inertia and a collision geometry.

Reference:

http://classic.gazebosim.org/tutorials?tut=build_world