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gz - Online in the Cloud

Run gz in OnWorks free hosting provider over Ubuntu Online, Fedora Online, Windows online emulator or MAC OS online emulator

This is the command gz that can be run in the OnWorks free hosting provider using one of our multiple free online workstations such as Ubuntu Online, Fedora Online, Windows online emulator or MAC OS online emulator

PROGRAM:

NAME


gz - Gazebo command line tool for control and analysis.

SYNPOSIS


gz command [option]... [argument]...

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

September 2014 GZ(1)

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