菜单
Configure and build gz-sim from source using either CMake/Ninja directly or a colcon workspace. Trigger when the user asks to build, recompile, configure, or set up the gz-sim binary tree.
用 Codex 或 Claude 帮你安装 复制这段 Prompt，粘贴到 Codex、Claude 或其他助手里，让它检查 Skill 页面并帮你完成安装。
基于 SOC 职业分类
Author a new asset for this .claude/ template — a rule, skill, slash command, or sub-agent — following the project's conventions and wiring it into the CLAUDE.md / README.md indexes. Trigger when the user wants to add or extend a command, skill, agent, or rule (make the template itself extensible).
Bootstrap a complete ROS 2 colcon workspace from scratch — directory layout, .gitignore, top-level README, this .claude/ config, an interfaces package and a first Clean Architecture package, and a bringup package. Trigger when the user asks to create a new workspace / start a new ROS 2 project from zero.
Scaffold a Behavior Tree leaf node — plain BehaviorTree.CPP (SyncActionNode / StatefulActionNode / ConditionNode) or a BehaviorTree.ROS2 wrapper (RosActionNode / RosServiceNode / RosTopicPubNode / RosTopicSubNode) — with ports, factory/plugin registration, and XML v4 usage. Trigger when the user asks to write a behavior-tree node (not Nav 2-specific).
Scaffold a ros2_control hardware component (SystemInterface / ActuatorInterface / SensorInterface) and its bringup — the plugin (on_init/on_configure/on_activate, RT-safe read()/write()), URDF <ros2_control> wiring, controllers.yaml + launch, pluginlib export. Trigger when the user asks to integrate hardware or bring up a robot under ros2_control.
Scaffold or extend a ros2_control controller or broadcaster (ControllerInterface / ChainableControllerInterface) — base-class choice, command/state interface configuration, lifecycle, real-time-safe update(), generate_parameter_library, pluginlib export, tests. Trigger when the user asks to write a ros2_control controller or broadcaster.
Bridge a VDA 5050 v3.0.0 fleet-control interface (MQTT/JSON) onto Nav 2 under Clean Architecture — domain entities, MQTT/Nav 2 adapters behind ports, order→NavigateThroughPoses mapping, state aggregation, action handlers. Trigger when the user asks to build or extend a VDA 5050 connector / fleet bridge.
| name | gz-build |
| description | Configure and build gz-sim from source using either CMake/Ninja directly or a colcon workspace. Trigger when the user asks to build, recompile, configure, or set up the gz-sim binary tree. |
gz-sim follows the Gazebo project's standard build process. Two equally
valid front-ends exist; pick based on what the user already has set up.
Assumes every Gazebo dependency (gz-cmake, gz-common, gz-physics, …)
is already installed system-wide.
cmake -S . -B build -G Ninja \
-DCMAKE_BUILD_TYPE=RelWithDebInfo \
-DBUILD_TESTING=ON
cmake --build build -j"$(nproc)"
Useful flags:
| Flag | Effect |
|---|---|
-DCMAKE_BUILD_TYPE=Debug | Asserts on, no optimization, full symbols. |
-DENABLE_PROFILER=ON | Compiles in GZ_PROFILER hooks. |
-DBUILD_TESTING=OFF | Skip test targets (faster, smaller). |
-DCMAKE_INSTALL_PREFIX=/opt/gz | Override install location. |
-DBUILD_DOCS=ON | Build Doxygen + tutorials (needs doxygen). |
Install (optional, into prefix):
cmake --install build
When the user is building the full Gazebo stack:
# from <workspace>/src/ that contains gz-sim and friends
colcon build --merge-install --cmake-args -DBUILD_TESTING=ON
source install/setup.bash
Limit to gz-sim and its deps:
colcon build --merge-install \
--packages-up-to gz-sim \
--cmake-args -DCMAKE_BUILD_TYPE=RelWithDebInfo
bazel build //... --config=linux
bazel test //... --config=linux
MODULE.bazel pins the dependencies; the matrix is exercised by
.github/workflows/bazel.yml.
gz sim -v 4 shapes.sdf (needs source install/setup.bash
when built via colcon).xvfb-run -s '-screen 0 1280x800x24'.-DCMAKE_CXX_FLAGS="-fsanitize=address,undefined"
and -DCMAKE_EXE_LINKER_FLAGS="-fsanitize=address,undefined".find_package(gz-cmake REQUIRED) failing → user hasn't installed gz-cmake.qt6-base-dev + qt6-declarative-dev
qt6-5compat-dev are present.sdformat → install the matching libsdformat<NN>-dev for the
current Gazebo distribution (Rotary → check package.xml).gz-msgs headers → rebuild gz-msgs before gz-sim.Always cd into the repo root (/home/rdadmin/gz-sim) before running these.