518 lines
7.9 KiB
Plaintext
518 lines
7.9 KiB
Plaintext
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.TH "GZ" "1" "September 2014" "" ""
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.
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.SH "NAME"
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\fBgz\fR \- Gazebo command line tool for control and analysis.
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.
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.SH "SYNPOSIS"
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\fBgz\fR \fIcommand\fR [option]\.\.\. [argument]\.\.\.
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.
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.UNINDENT
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.SH COMMANDS
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.UNINDENT
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.SS camera
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.sp
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.nf
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.ft C
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gz camera [options]
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.ft P
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.fi
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.sp
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Change properties of a camera. If a name for the world,
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option -w, is not specified, the first world found on
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the Gazebo master will be used.
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A camera name is required.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.TP
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.B \-w, \-\-world\-name\fR=\fIarg\fR
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.
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World name.
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.TP
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.B \-c, \-\-camera\-name\fR=\fIarg\fR
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.
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Camera name. Use gz camera \-l to get a list of camera names.
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.TP
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.B \-l, \-\-list
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.
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List all cameras
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.TP
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.B \-f, \-\-follow\fR=\fIarg\fR
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.
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Model to follow.
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.UNINDENT
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.SS debug
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.sp
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.nf
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.ft C
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gz debug [options]
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.ft P
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.fi
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.sp
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Used primarily for bash completion, this tool
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return the completion list for a given command.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.TP
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.B \-o, \-\-option\fR=\fIarg\fR
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.
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Show the command options.
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.UNINDENT
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.SS help
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.sp
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.nf
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.ft C
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gz help [options]
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.ft P
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.fi
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.sp
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Output information about a gz command.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.UNINDENT
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.SS joint
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.sp
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.nf
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.ft C
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gz joint [options]
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.ft P
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.fi
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.sp
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Change properties of a joint. If a name for the world,
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option -w, is not specified, the first world found on
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the Gazebo master will be used.
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A model name and joint name are required.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.TP
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.B \-w, \-\-world\-name\fR=\fIarg\fR
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.
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World name.
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.TP
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.B \-m, \-\-model\-name\fR=\fIarg\fR
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.
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Model name.
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.TP
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.B \-j, \-\-joint\-name\fR=\fIarg\fR
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.
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Joint name.
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.TP
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.B \-d, \-\-delete
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.
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Delete a model.
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.TP
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.B \-f, \-\-force\fR=\fIarg\fR
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.
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Force to apply to a joint.
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.TP
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.B \-\-pos\-t\fR=\fIarg\fR
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.
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Target angle.
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.TP
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.B \-\-pos\-p\fR=\fIarg\fR
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.
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Position proportional gain.
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.TP
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.B \-\-pos\-i\fR=\fIarg\fR
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.
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Position integral gain.
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.TP
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.B \-\-pos\-d\fR=\fIarg\fR
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.
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Position differential gain.
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.TP
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.B \-\-vel\-t\fR=\fIarg\fR
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.
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Target speed.
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.TP
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.B \-\-vel\-p\fR=\fIarg\fR
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.
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Velocity proportional gain.
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.TP
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.B \-\-vel\-i\fR=\fIarg\fR
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.
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Velocity integral gain.
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.TP
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.B \-\-vel\-d\fR=\fIarg\fR
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.
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Velocity differential gain.
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.UNINDENT
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.SS log
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.sp
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.nf
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.ft C
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gz log [options]
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.ft P
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.fi
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.sp
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Introspect and manipulate Gazebo log files. The log
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command can also start and stop data log recording from
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an active Gazebo server.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.TP
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.B \-i, \-\-info
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.
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Output information about a log file. Log filename should be specified using the --file option
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.TP
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.B \-e, \-\-echo
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.
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Output the contents of a log file to screen.
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.TP
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.B \-s, \-\-step
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.
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Step through the contents of a log file.
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.TP
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.B \-d, \-\-record\fR=\fIarg\fR
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.
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Start/stop recording a log file from an active Gazebo server.O=stop record, 1=start recording.
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.TP
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.B \-w, \-\-world\-name\fR=\fIarg\fR
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.
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World name, used when starting or stopping recording.
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.TP
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.B \-r, \-\-raw
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.
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Output the data from echo and step without XML formatting.Used in conjuction with --echo or --step.
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.TP
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.B \-\-stamp\fR=\fIarg\fR
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.
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Add a timestamp to each line of output. Valid values are (sim,real,wall)
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.TP
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.B \-z, \-\-hz\fR=\fIarg\fR
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.
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Filter output to the specified Hz rate.Only valid for echo and step commands.
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.TP
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.B \-f, \-\-file\fR=\fIarg\fR
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.
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Path to a log file.
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.TP
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.B \-\-filter\fR=\fIarg\fR
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.
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Filter output. Valid only for the echo and step commands
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.UNINDENT
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.SS model
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.sp
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.nf
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.ft C
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gz model [options]
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.ft P
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.fi
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.sp
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Change properties of a model, delete a model, or
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spawn a new model. If a name for the world, option -w, is
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not pecified, the first world found on the Gazebo master
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will be used.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.TP
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.B \-m, \-\-model\-name\fR=\fIarg\fR
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.
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Model name.
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.TP
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.B \-w, \-\-world\-name\fR=\fIarg\fR
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.
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World name.
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.TP
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.B \-d, \-\-delete
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.
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Delete a model.
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.TP
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.B \-f, \-\-spawn\-file\fR=\fIarg\fR
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.
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Spawn model from SDF file.
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.TP
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.B \-s, \-\-spawn\-string
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.
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Spawn model from SDF string, pass by a pipe.
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.TP
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.B \-i, \-\-info
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.
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Output model state information to the terminal.
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.TP
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.B \-p, \-\-pose
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.
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Output model pose as a space separated 6\-tuple: x y z roll pitch yaw.
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.TP
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.B \-x, \-\-pose\-x arg x value
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.TP
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.B \-y, \-\-pose\-y arg y value
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.TP
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.B \-z, \-\-pose\-z arg z value
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.TP
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.B \-R, \-\-pose\-R arg roll in radians.
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.TP
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.B \-P, \-\-pose\-P arg pitch in radians.
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.TP
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.B \-Y, \-\-pose\-Y arg yaw in radians.
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.UNINDENT
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.SS physics
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.sp
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.nf
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.ft C
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gz physics [options]
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.ft P
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.fi
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.sp
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Change properties of the physics engine on a specific
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world. If a name for the world, option -w, is not specified,
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the first world found on the Gazebo master will be used.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.TP
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.B \-w, \-\-world\-name\fR=\fIarg\fR
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.
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World name.
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.TP
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.B \-g, \-\-gravity\fR=\fIarg\fR
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.
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Gravity vector. Comma separated 3\-tuple without whitespace, eg: -g 0,0,-9.8
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.TP
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.B \-s, \-\-step\-size\fR=\fIarg\fR
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.
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Maximum step size (seconds).
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.TP
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.B \-i, \-\-iters\fR=\fIarg\fR
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.
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Number of iterations.
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.TP
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.B \-u, \-\-update\-rate\fR=\fIarg\fR
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.
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Target real\-time update rate.
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.TP
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.B \-o, \-\-profile\fR=\fIarg\fR
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.
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Preset physics profile.
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.UNINDENT
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.SS sdf
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.sp
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.nf
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.ft C
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gz sdf [options]
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.ft P
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.fi
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.sp
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Introspect, convert, and output SDF files.
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Use the -v option to specify the version of
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SDF for use with other options.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.TP
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.B \-d, \-\-describe
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.
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Print SDF format for given version(\-v).
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.TP
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.B \-c, \-\-convert\fR=\fIarg\fR
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.
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In place conversion of arg to the latest SDF version.
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.TP
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.B \-o, \-\-doc
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.
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Print HTML SDF. Use \-v to specify version.
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.TP
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.B \-k, \-\-check\fR=\fIarg\fR
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.
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Validate arg.
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.TP
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.B \-v, \-\-version\fR=\fIarg\fR
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.
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Version of SDF to use with other options.
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.TP
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.B \-p, \-\-print\fR=\fIarg\fR
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.
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Print arg, useful for debugging and as a conversion tool.
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.UNINDENT
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.SS stats
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.sp
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.nf
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.ft C
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gz stats [options]
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.ft P
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.fi
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.sp
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Print gzserver statics to standard out. If a name for the world,
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option -w, is not specified, the first world found on
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the Gazebo master will be used.
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.sp
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Options:
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.INDENT 0.0
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.TP
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.B \-h, \-\-help
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.
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Print this help message
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.TP
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.B \-w, \-\-world\-name\fR=\fIarg\fR
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.
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World name.
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.TP
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.B \-d, \-\-duration\fR=\fIarg\fR
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.
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Duration (seconds) to run.
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.TP
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.B \-p, \-\-plot
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.
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Output comma\-separated values, useful for processing and plotting.
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.UNINDENT
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.SS topic
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.sp
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.nf
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.ft C
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gz topic [options]
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.ft P
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.fi
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.sp
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||
|
|
|
||
|
|
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.
|
||
|
|
|
||
|
|
.sp
|
||
|
|
Options:
|
||
|
|
.INDENT 0.0
|
||
|
|
.TP
|
||
|
|
.B \-h, \-\-help
|
||
|
|
.
|
||
|
|
Print this help message
|
||
|
|
.TP
|
||
|
|
.B \-w, \-\-world\-name\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
World name.
|
||
|
|
.TP
|
||
|
|
.B \-l, \-\-list
|
||
|
|
.
|
||
|
|
List all topics.
|
||
|
|
.TP
|
||
|
|
.B \-i, \-\-info\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
Get information about a topic.
|
||
|
|
.TP
|
||
|
|
.B \-e, \-\-echo\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
Output topic data to screen.
|
||
|
|
.TP
|
||
|
|
.B \-v, \-\-view\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
View topic data using a QT widget.
|
||
|
|
.TP
|
||
|
|
.B \-z, \-\-hz\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
Get publish frequency.
|
||
|
|
.TP
|
||
|
|
.B \-b, \-\-bw\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
Get topic bandwidth.
|
||
|
|
.TP
|
||
|
|
.B \-u, \-\-unformatted
|
||
|
|
.
|
||
|
|
Output data from echo without formatting.
|
||
|
|
.TP
|
||
|
|
.B \-d, \-\-duration\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
Duration (seconds) to run. Applicable with echo, hz, and bw
|
||
|
|
.UNINDENT
|
||
|
|
.SS world
|
||
|
|
.sp
|
||
|
|
.nf
|
||
|
|
.ft C
|
||
|
|
gz world [options]
|
||
|
|
.ft P
|
||
|
|
.fi
|
||
|
|
.sp
|
||
|
|
|
||
|
|
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.
|
||
|
|
|
||
|
|
.sp
|
||
|
|
Options:
|
||
|
|
.INDENT 0.0
|
||
|
|
.TP
|
||
|
|
.B \-h, \-\-help
|
||
|
|
.
|
||
|
|
Print this help message
|
||
|
|
.TP
|
||
|
|
.B \-w, \-\-world\-name\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
World name.
|
||
|
|
.TP
|
||
|
|
.B \-p, \-\-pause\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
Pause/unpause simulation. 0=unpause, 1=pause.
|
||
|
|
.TP
|
||
|
|
.B \-s, \-\-step
|
||
|
|
.
|
||
|
|
Step simulation one iteration.
|
||
|
|
.TP
|
||
|
|
.B \-m, \-\-multi\-step\fR=\fIarg\fR
|
||
|
|
.
|
||
|
|
Step simulation mulitple iteration.
|
||
|
|
.TP
|
||
|
|
.B \-r, \-\-reset\-all
|
||
|
|
.
|
||
|
|
Reset time and model poses
|
||
|
|
.TP
|
||
|
|
.B \-t, \-\-reset\-time
|
||
|
|
.
|
||
|
|
Reset time
|
||
|
|
.TP
|
||
|
|
.B \-o, \-\-reset\-models
|
||
|
|
.
|
||
|
|
Reset models
|