Dora-Gazebo

A Dora node provides bidirectional communication between Gazebo and Dora. This Node can only work with Gazebo Harmonic now.

screencast.webm

Setup

To use the Python binding of Gazebo, you need to install the package for specific Gazebo version from Gazebo's official repository.

sudo apt install python3-gz-tansport13

If you'd like to use venv of UV, please setup the venv manually to make the system packages available.

uv venv --system-site-packages

Configuration

This Node will subscribe topic from Gazebo, and publish it in Dora with JSON format according to the outputs' configuration.

nodes:
  - id: id-of-the-node
    path: dora-gazebo
    inputs:
      tick: dora/timer/millis/2
      /model/tugbot/cmd_vel: dora-gz-ctrl/cmd_vel
      <topic name>: <dora node output>
    outputs:
      - /stats
      - /gui/camera/pose
      - <topic name>

Publish Message to Gazebo

dora_node.send_output(
    "cmd_vel",
    pyarrow.array([json.dumps(msg_dict)]),
    {"msg_type": "gz.msgs.Twist"}, # declare the type of the message
)