gz(1)

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.

-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 or publish a message on a topic. 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.

-p, --publish=arg

Publish message on a topic.

-r, --request=arg

Send a request.

-u, --unformatted

Output data from echo without formatting.

-d, --duration=arg

Duration (seconds) to run. Applicable with echo, hz, and bw

-m, --msg=arg

Message to send on topic. Applicable with publish and request

-f, --file=arg

Path to a file containing the message to send on topic. Applicable with publish and request

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