Expert skill for Gazebo Classic and Ignition/Gazebo Sim world creation and plugin development. Create SDF worlds with terrain, lighting, physics configuration, sensor models, and custom plugins.
Creates and configures Gazebo simulation worlds with custom sensors, physics, and plugins.
npx claudepluginhub a5c-ai/babysitterThis skill is limited to using the following tools:
README.mdYou are gazebo-simulation - a specialized skill for Gazebo simulation environment creation, configuration, and plugin development.
This skill enables AI-powered Gazebo simulation including:
Generate SDF world files:
<?xml version="1.0" ?>
<sdf version="1.8">
<world name="robot_world">
<!-- Physics Configuration -->
<physics name="default_physics" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
<sor>1.3</sor>
</solver>
<constraints>
<cfm>0.0</cfm>
<erp>0.2</erp>
<contact_max_correcting_vel>100.0</contact_max_correcting_vel>
<contact_surface_layer>0.001</contact_surface_layer>
</constraints>
</ode>
</physics>
<!-- Lighting -->
<light type="directional" name="sun">
<cast_shadows>true</cast_shadows>
<pose>0 0 10 0 0 0</pose>
<diffuse>0.8 0.8 0.8 1</diffuse>
<specular>0.2 0.2 0.2 1</specular>
<direction>-0.5 0.1 -0.9</direction>
</light>
<light type="point" name="point_light">
<pose>5 5 3 0 0 0</pose>
<diffuse>0.5 0.5 0.5 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<attenuation>
<range>20</range>
<linear>0.05</linear>
<quadratic>0.001</quadratic>
</attenuation>
</light>
<!-- Ground Plane -->
<model name="ground_plane">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<surface>
<friction>
<ode>
<mu>100</mu>
<mu2>50</mu2>
</ode>
</friction>
</surface>
</collision>
<visual name="visual">
<geometry>
<plane>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
<material>
<ambient>0.8 0.8 0.8 1</ambient>
<diffuse>0.8 0.8 0.8 1</diffuse>
</material>
</visual>
</link>
</model>
<!-- Include Models -->
<include>
<uri>model://my_robot</uri>
<name>robot1</name>
<pose>0 0 0.1 0 0 0</pose>
</include>
<!-- Plugins -->
<plugin filename="gz-sim-physics-system" name="gz::sim::systems::Physics"/>
<plugin filename="gz-sim-user-commands-system" name="gz::sim::systems::UserCommands"/>
<plugin filename="gz-sim-scene-broadcaster-system" name="gz::sim::systems::SceneBroadcaster"/>
<plugin filename="gz-sim-sensors-system" name="gz::sim::systems::Sensors">
<render_engine>ogre2</render_engine>
</plugin>
</world>
</sdf>
Configure different physics engines:
<!-- ODE (Default, fast) -->
<physics name="ode_physics" type="ode">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<ode>
<solver>
<type>quick</type>
<iters>50</iters>
</solver>
</ode>
</physics>
<!-- Bullet (Better for complex collisions) -->
<physics name="bullet_physics" type="bullet">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<bullet>
<solver>
<type>sequential_impulse</type>
<iters>50</iters>
<sor>1.3</sor>
</solver>
</bullet>
</physics>
<!-- DART (Best for robotics, articulated bodies) -->
<physics name="dart_physics" type="dart">
<max_step_size>0.001</max_step_size>
<real_time_factor>1.0</real_time_factor>
<dart>
<collision_detector>fcl</collision_detector>
<solver>
<solver_type>pgs</solver_type>
</solver>
</dart>
</physics>
Add various sensors to robots:
<!-- Camera Sensor -->
<sensor name="camera" type="camera">
<always_on>true</always_on>
<update_rate>30</update_rate>
<camera>
<horizontal_fov>1.3962634</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R8G8B8</format>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.007</stddev>
</noise>
</camera>
<plugin filename="gz-sim-camera-system" name="gz::sim::systems::Camera"/>
</sensor>
<!-- Depth Camera -->
<sensor name="depth_camera" type="depth_camera">
<always_on>true</always_on>
<update_rate>15</update_rate>
<camera>
<horizontal_fov>1.047</horizontal_fov>
<image>
<width>640</width>
<height>480</height>
<format>R_FLOAT32</format>
</image>
<clip>
<near>0.1</near>
<far>10</far>
</clip>
</camera>
<plugin filename="gz-sim-depth-camera-system" name="gz::sim::systems::DepthCamera"/>
</sensor>
<!-- LiDAR Sensor -->
<sensor name="lidar" type="gpu_lidar">
<always_on>true</always_on>
<update_rate>10</update_rate>
<lidar>
<scan>
<horizontal>
<samples>640</samples>
<resolution>1</resolution>
<min_angle>-3.14159</min_angle>
<max_angle>3.14159</max_angle>
</horizontal>
<vertical>
<samples>16</samples>
<resolution>1</resolution>
<min_angle>-0.26</min_angle>
<max_angle>0.26</max_angle>
</vertical>
</scan>
<range>
<min>0.3</min>
<max>100</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0</mean>
<stddev>0.01</stddev>
</noise>
</lidar>
<plugin filename="gz-sim-gpu-lidar-system" name="gz::sim::systems::GpuLidar"/>
</sensor>
<!-- IMU Sensor -->
<sensor name="imu" type="imu">
<always_on>true</always_on>
<update_rate>200</update_rate>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>0.0002</stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>0.0002</stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>0.0002</stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>0.017</stddev>
</noise>
</x>
</linear_acceleration>
</imu>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu"/>
</sensor>
<!-- GPS Sensor -->
<sensor name="gps" type="navsat">
<always_on>true</always_on>
<update_rate>5</update_rate>
<navsat>
<position_sensing>
<horizontal>
<noise type="gaussian">
<mean>0</mean>
<stddev>0.5</stddev>
</noise>
</horizontal>
<vertical>
<noise type="gaussian">
<mean>0</mean>
<stddev>1.0</stddev>
</noise>
</vertical>
</position_sensing>
</navsat>
<plugin filename="gz-sim-navsat-system" name="gz::sim::systems::NavSat"/>
</sensor>
Configure ROS2 bridge for topics:
<!-- In world file -->
<plugin filename="gz-sim-ros-gz-bridge" name="ros_gz_bridge::RosGzBridge">
<ros>
<namespace>/robot</namespace>
</ros>
<!-- Camera -->
<bridge topic="/camera/image_raw" ros_topic="/robot/camera/image_raw" type="sensor_msgs/msg/Image" direction="GZ_TO_ROS"/>
<bridge topic="/camera/camera_info" ros_topic="/robot/camera/camera_info" type="sensor_msgs/msg/CameraInfo" direction="GZ_TO_ROS"/>
<!-- LiDAR -->
<bridge topic="/lidar/points" ros_topic="/robot/scan" type="sensor_msgs/msg/PointCloud2" direction="GZ_TO_ROS"/>
<!-- IMU -->
<bridge topic="/imu" ros_topic="/robot/imu" type="sensor_msgs/msg/Imu" direction="GZ_TO_ROS"/>
<!-- Velocity Commands -->
<bridge topic="/cmd_vel" ros_topic="/robot/cmd_vel" type="geometry_msgs/msg/Twist" direction="ROS_TO_GZ"/>
<!-- Odometry -->
<bridge topic="/odom" ros_topic="/robot/odom" type="nav_msgs/msg/Odometry" direction="GZ_TO_ROS"/>
<!-- Joint States -->
<bridge topic="/joint_states" ros_topic="/robot/joint_states" type="sensor_msgs/msg/JointState" direction="GZ_TO_ROS"/>
<!-- TF -->
<bridge topic="/tf" ros_topic="/tf" type="tf2_msgs/msg/TFMessage" direction="GZ_TO_ROS"/>
</plugin>
Create terrain and environment models:
<!-- Heightmap Terrain -->
<model name="terrain">
<static>true</static>
<link name="link">
<collision name="collision">
<geometry>
<heightmap>
<uri>file://terrain/heightmap.png</uri>
<size>100 100 10</size>
<pos>0 0 0</pos>
</heightmap>
</geometry>
</collision>
<visual name="visual">
<geometry>
<heightmap>
<uri>file://terrain/heightmap.png</uri>
<size>100 100 10</size>
<pos>0 0 0</pos>
<texture>
<diffuse>file://terrain/grass.png</diffuse>
<normal>file://terrain/grass_normal.png</normal>
<size>10</size>
</texture>
</heightmap>
</geometry>
</visual>
</link>
</model>
<!-- Obstacles -->
<model name="obstacle_box">
<static>true</static>
<pose>5 3 0.5 0 0 0</pose>
<link name="link">
<collision name="collision">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
</collision>
<visual name="visual">
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<material>
<ambient>0.5 0.5 0.5 1</ambient>
</material>
</visual>
</link>
</model>
Create custom Gazebo plugins:
// WorldPlugin example
#include <gz/sim/System.hh>
#include <gz/plugin/Register.hh>
namespace my_plugins {
class MyWorldPlugin : public gz::sim::System,
public gz::sim::ISystemConfigure,
public gz::sim::ISystemPreUpdate
{
public:
void Configure(const gz::sim::Entity &_entity,
const std::shared_ptr<const sdf::Element> &_sdf,
gz::sim::EntityComponentManager &_ecm,
gz::sim::EventManager &_eventMgr) override
{
// Configuration on load
gzmsg << "MyWorldPlugin configured" << std::endl;
}
void PreUpdate(const gz::sim::UpdateInfo &_info,
gz::sim::EntityComponentManager &_ecm) override
{
// Called before each simulation step
if (_info.paused)
return;
// Custom logic here
}
};
}
GZ_ADD_PLUGIN(my_plugins::MyWorldPlugin,
gz::sim::System,
my_plugins::MyWorldPlugin::ISystemConfigure,
my_plugins::MyWorldPlugin::ISystemPreUpdate)
Launch Gazebo with ROS2:
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
def generate_launch_description():
pkg_share = FindPackageShare('my_robot_gazebo')
# World file
world_file = PathJoinSubstitution([pkg_share, 'worlds', 'robot_world.sdf'])
# Gazebo launch
gazebo = IncludeLaunchDescription(
PythonLaunchDescriptionSource([
FindPackageShare('ros_gz_sim'), '/launch/gz_sim.launch.py'
]),
launch_arguments={
'gz_args': ['-r ', world_file],
'on_exit_shutdown': 'true'
}.items()
)
# Spawn robot
spawn_robot = Node(
package='ros_gz_sim',
executable='create',
arguments=[
'-name', 'my_robot',
'-topic', '/robot_description',
'-x', '0', '-y', '0', '-z', '0.1'
],
output='screen'
)
# ROS-GZ Bridge
bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=[
'/cmd_vel@geometry_msgs/msg/Twist@gz.msgs.Twist',
'/odom@nav_msgs/msg/Odometry@gz.msgs.Odometry',
'/scan@sensor_msgs/msg/LaserScan@gz.msgs.LaserScan'
],
output='screen'
)
return LaunchDescription([
gazebo,
spawn_robot,
bridge
])
This skill can leverage the following MCP servers for enhanced capabilities:
| Server | Description | Installation |
|---|---|---|
| Gazebo MCP Server | ROS2 MCP for Gazebo | lobehub.com |
| ros-mcp-server | ROS/ROS2 bridge | GitHub |
This skill integrates with the following processes:
gazebo-simulation-setup.js - Primary simulation setupdigital-twin-development.js - Digital twin creationsynthetic-data-pipeline.js - Training data generationsimulation-performance-optimization.js - Performance tuninghil-testing.js - Hardware-in-the-loop testingWhen executing operations, provide structured output:
{
"operation": "create-world",
"worldName": "robot_world",
"status": "success",
"configuration": {
"physicsEngine": "ode",
"realTimeFactor": 1.0,
"sensors": ["camera", "lidar", "imu"]
},
"artifacts": [
"worlds/robot_world.sdf",
"launch/simulation.launch.py"
],
"launchCommand": "ros2 launch my_robot_gazebo simulation.launch.py"
}
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