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gz-ros2-bridge

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Bridge Gazebo and ROS 2 topics with ros_gz_bridge

Software Engineering#simulation#bridge#ros2#gazebo#topic-mapping#gz_bridge#ros2-bridge
Authorwimblerobotics
Version1.0.0
Installs0

System Documentation

What problem does it solve?

Gazebo simulations often run with Gazebo Transport, which is not directly readable by ROS 2 nodes. This skill provides a reliable bridge between Gazebo and ROS 2 using the ros_gz_bridge package so that simulated sensors, odometry, and control commands can be consumed by ROS 2 ecosystems.

Core Features & Use Cases

  • Bidirectional topic bridging between Gazebo and ROS 2 for common data like /clock, /cmd_vel, /odom, sensor topics, and TF transforms.
  • Flexible direction control to support GZ→ROS, ROS→GZ, or bidirectional setups, with clear mapping rules and timing considerations.
  • Use Case: Run a Gazebo simulation of a mobile robot and verify navigation stacks by exchanging velocity commands and odometry with ROS 2 controllers.

Quick Start

Start a Gazebo simulation and configure ros_gz_bridge mappings to connect Gazebo topics to ROS 2 topics during runtime.

Dependency Matrix

Required Modules

None required

Components

Standard package

💻 Claude Code Installation

Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.

Please help me install this Skill:
Name: gz-ros2-bridge
Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#gz-ros2-bridge

Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
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