as2_gazebo_assets

Colletion of AS2 Gazebo assets and launching scripts.

Tested on Gazebo Fortress. Make sure to have it installed.

Gazebo naming has changed between ROS2 Galactic and ROS2 Humble releases (Gazeno new era). You should use as2_gazebo_assets package version corresponding to your ROS2 version.

INDEX

• INDEX
• RESOURCES
  • DRONE MODELS
  • SENSOR MODELS
  • WORLD MODELS
• HOW TO RUN: Basic usage
  • OPTIONS
  • CONFIG FILE

• EXAMPLES

RESOURCES

There are distinguish three kinds of reources: drone, sensor and world models.

DRONE MODELS

SENSOR MODELS

WORLD MODELS

HOW TO RUN: Basic usage

Previously setting AS2 environment, simply run:

ros2 launch as2_gazebo_assets launch_simulation.py config_file:=<config-file>

This will run for you ign gazebo server, spawn all models from your config file and open ign gazebo client (GUI).

OPTIONS

• config_file: Launch config file (JSON or YAML format).

• gui_config_file: GUI config file. (default: ‘’)

• use_sim_time: Deactivates clock bridge and object publishes tf in sys clock time. Valid choices are: [‘true’, ‘false’] (default: ‘true’)

• headless: Launch in headless mode (only ign server). Valid choices are: [‘true’, ‘false’] (default: ‘false’)

• verbose: Launch in verbose mode. Valid choices are: [‘true’, ‘false’] (default: ‘false’)

• run_on_start: Run simulation on start. Valid choices are: [‘true’, ‘false’] (default: ‘true’)

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Changelog for package as2_gazebo_assets

1.1.3 (2025-07-23)

• [as2_gazebo_assets] Ability to load single sensor with multiple cameras
• [as2_gazebo_assets] Update meshes
• [as2_gazebo_assets] New gripper model
• [as2_gazebo_assets] DJI f330 gazebo model
• [as2_gazebo_assets] Fix path to gimbals and camera sensors
• [as2_gazebo_assets] Add Gazebo world bridges
• [as2_gazebo_assets] Restore Multicopter plugin filename and parameters
• [as2_gazebo_assets] Add different controller topics to arm bridge
• [as2_gazebo_assets] Gazebo MulticopterINDIControl plugin
• [as2_gazebo_assets] Grayscaled camera model added.
• [as2_gazebo_assets] Gazebo bridge for ACRO commands
• [as2_gazebo_assets] Fix jinja env dir when model comes from outside aerostack2
• [as2_gazebo_assets] Remove submesh in gate model
• [as2_gazebo_assets] Add Gate model
• [as2_gazebo_assets] add px4vision drone model
• [as2_gazebo_assets] Set air pressure sensor by user instead of default sensor
• [as2_gazebo_assets] Set magnetometer sensor by user instead of default sensor
• [as2_gazebo_assets] Add x500 drone model
• Contributors: Carmen De Rojas, Francisco Anguita, Rafael Perez-Segui, Rodrigo Da Silva, pariaspe

1.1.2 (2024-08-22)

1.1.1 (2024-08-20)

1.1.0 (2024-08-08)

• [as2_gazebo_assets] Improve crazyflie model: controller tuned and added IMU
• [as2_gazebo_assets] Added crazyflie viz MODEL
• [as2_gazebo_assets] Updated Crazyflie Gazebo model
• [as2_gazebo_assets] Add optical frames to cameras
• [as2_gazebo_assets] Fix for flake8.
• [as2_gazebo_assets] Fix model templates for sensor naming
• [as2_gazebo_assets] Support yaml files for gazebo world configuration
• [as2_gazebo_assets] Fix malformed bridges
• [as2_gazebo_assets] ament lint auto compliance
• [as2_gazebo_assets] Continue using Pydantic V1
• [as2_gazebo_assets] environment variable IGN_GAZEBO_RESOURCE_PATH changed to GZ_SIM_RESOURCE_PATH
• [as2_gazebo_assets] Add actuators bridge
• [as2_gazebo_assets] Add Gazebo Harmonic launcher by env variable GZ_VERSION
• [as2_gazebo_assets] Add actuators bridge and disable velocity controller with a param
• [as2_gazebo_assets] Fix gimbal_bridge on Gazebo Harmonic
• [as2_gazebo_assets] Gz harmonic support
• [as2_gazebo_assets] Sensor model name and sensor link name were swapped in camera bridges
• Contributors: Javilinos, Miguel Fernandez-Cortizas, Rafael Perez-Segui, keikei014, pariaspe

1.0.9 (2024-03-25)

• added local frame to simulated gimbal msg
• Partial fix on Crazyflie Model
• Point gimbal working and Gimbal Inertial links enabling to fly
• Nested sdf model for gimbal and fixed TF tree
• Contributors: Javier Melero, Javilinos, Mickey Li, Miguel Fernandez-Cortizas, Rafael Pérez, pariaspe

1.0.8 (2024-02-12)

1.0.7 (2024-02-04)

• Gimbal model added
• Cleaning remaining ign, bridges use gz instead ign
• [as2_gazebo_assets] Renamed to as2_gazebo_assets
• Contributors: Javilinos, Rafael Pérez, pariaspe

1.0.6 (2023-12-12)

1.0.5 (2023-11-08)

• Spawn objects from gz resource path
• Hexrotor back to fly
• Contributors: Javilinos, pariaspe

1.0.4 (2023-08-23)

1.0.3 (2023-08-22)

1.0.2 (2023-08-17)

• Merge pull request #314 from aerostack2/313-payload-bridges-missing Payload bridges fix
• fixes issue 313: payload bridges
• Merge pull request #306 from

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