SYNPOSIS

COMMANDS

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:

-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:

-h, --help

Print this help message

-o, --option=arg

Show the command options.

help

gz help [options]

Output information about a gz command.

Options:

-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.

Options:

-h, --help

Print this help message

-w, --world-name=arg

World name.

-m, --model-name=arg

Model name.

-j, --joint-name=arg

Joint name.

-d, --delete

Delete a model.

-f, --force=arg

Force to apply to a joint.

--pos-t=arg

Target angle.

--pos-p=arg

Position proportional gain.

--pos-i=arg

Position integral gain.

--pos-d=arg

Position differential gain.

--vel-t=arg

Target speed.

--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:

-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.

--filter=arg

Filter output. Valid only for the echo and step commands

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:

-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:

-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:

-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:

-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. If a name for the world, option -w, is not specified, the first world found on the Gazebo master will be used.

Options:

-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.

-u, --unformatted

Output data from echo without formatting.

-d, --duration=arg

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

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:

-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