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Use headings instead of emphasis
This allows each service to be listed on the secondary navigation bar on the right side. Signed-off-by: Addisu Z. Taddese <[email protected]>
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‎harmonic/ros2_sim_interfaces.md‎

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Original file line numberDiff line numberDiff line change
@@ -8,6 +8,7 @@ provide a unified way to control and observe simulation using ROS 2.
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Gazebo has implemented these interfaces, enabling tasks like spawning entities, stepping
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simulation, querying world state, etc. through standard ROS 2 calls. In this tutorial we
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will learn how to interact with a running Gazebo simulation for the following tasks,
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- [Simulation Control](#simulation-control)
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- [Entity Management](#entity-management)
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- [State Query](#state-query)
@@ -23,33 +24,33 @@ The following services and actions are available to control the flow of simulati
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| `StepSimulation` | `/gzserver/step_simulation` | Service | Step the simulation forward by a specified number of steps |
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| `GetSimulationState` | `/gzserver/get_simulation_state` | Service | Get the current simulation state (playing/paused/stopped) |
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| `SetSimulationState` | `/gzserver/set_simulation_state` | Service | Set the simulation state (play/pause/stop) |
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| `SimulateSteps` | `/gzserver/simulate_steps` | Action | Step the simulation forward by a specified number of steps with feedback and cancellation support |
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| `SimulateSteps` | `/gzserver/simulate_steps` | Action | Step the simulation forward by a specified number of steps with feedback and cancellation support |
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**ResetSimulation Service**
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### ResetSimulation Service
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Reset the simulation to its initial state.
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```bash
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ros2 service call /gzserver/reset_simulation simulation_interfaces/srv/ResetSimulation "{}"
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```
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**StepSimulation Service**
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### StepSimulation Service
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Step the simulation forward by a specified number of steps.
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```bash
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ros2 service call /gzserver/step_simulation simulation_interfaces/srv/StepSimulation "{steps: 10}"
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```
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**GetSimulationState Service**
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### GetSimulationState Service
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Get the current simulation state (playing/paused/stopped).
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```bash
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ros2 service call /gzserver/get_simulation_state simulation_interfaces/srv/GetSimulationState "{}"
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```
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**SetSimulationState Service**
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### SetSimulationState Service
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Set the simulation state (play/pause/stop).
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@@ -77,7 +78,7 @@ Set the simulation state (play/pause/stop).
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ros2 service call /gzserver/set_simulation_state simulation_interfaces/srv/SetSimulationState "{state: {state: 3}}"
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```
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**SimulateSteps Action**
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### SimulateSteps Action
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Step the simulation forward by a specified number of steps with feedback and cancellation support.
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| `SpawnEntity` | `/gzserver/spawn_entity` | Service | Spawn a new entity in the simulation at a specific location |
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| `DeleteEntity` | `/gzserver/delete_entity` | Service | Delete an existing entity by name |
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**SpawnEntity Service**
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### SpawnEntity Service
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Spawn a new entity in the simulation at a specific location.
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}"
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```
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**DeleteEntity Service**
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### DeleteEntity Service
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Delete an existing entity by name.
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| `GetEntitiesStates` | `/gzserver/get_entities_states` | Service | Get the state for multiple entities (optionally filtered) |
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| `GetEntities` | `/gzserver/get_entities` | Service | Get a list of entities (optionally filtered) |
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**GetEntityState Service**
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### GetEntityState Service
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Get the pose and twist of a specific entity.
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```bash
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ros2 service call /gzserver/get_entity_state simulation_interfaces/srv/GetEntityState "{entity: 'my_model'}"
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```
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**GetEntitiesStates Service**
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### GetEntitiesStates Service
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Get the state of multiple entities (optionally filtered).
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```bash
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ros2 service call /gzserver/get_entities_states simulation_interfaces/srv/GetEntitiesStates "{filters: {filter: ''}}"
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```
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**GetEntites Service**
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### GetEntites Service
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Get the list of entities (optionally filtered).
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@@ -163,7 +164,7 @@ supported features.
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|----------------|------------|------|-------------|
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| `GetSimulatorFeatures` | `/gzserver/get_simulator_features` | Service | Query which interface features are supported |
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**GetSimulatorFeatures Service**
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### GetSimulatorFeatures Service
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Query which interface features are supported.
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‎ionic/ros2_sim_interfaces.md‎

Lines changed: 13 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -8,6 +8,7 @@ provide a unified way to control and observe simulation using ROS 2.
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Gazebo has implemented these interfaces, enabling tasks like spawning entities, stepping
99
simulation, querying world state, etc. through standard ROS 2 calls. In this tutorial we
1010
will learn how to interact with a running Gazebo simulation for the following tasks,
11+
1112
- [Simulation Control](#simulation-control)
1213
- [Entity Management](#entity-management)
1314
- [State Query](#state-query)
@@ -23,33 +24,33 @@ The following services and actions are available to control the flow of simulati
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| `StepSimulation` | `/gzserver/step_simulation` | Service | Step the simulation forward by a specified number of steps |
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| `GetSimulationState` | `/gzserver/get_simulation_state` | Service | Get the current simulation state (playing/paused/stopped) |
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| `SetSimulationState` | `/gzserver/set_simulation_state` | Service | Set the simulation state (play/pause/stop) |
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| `SimulateSteps` | `/gzserver/simulate_steps` | Action | Step the simulation forward by a specified number of steps with feedback and cancellation support |
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| `SimulateSteps` | `/gzserver/simulate_steps` | Action | Step the simulation forward by a specified number of steps with feedback and cancellation support |
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**ResetSimulation Service**
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### ResetSimulation Service
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Reset the simulation to its initial state.
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```bash
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ros2 service call /gzserver/reset_simulation simulation_interfaces/srv/ResetSimulation "{}"
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```
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**StepSimulation Service**
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### StepSimulation Service
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Step the simulation forward by a specified number of steps.
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```bash
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ros2 service call /gzserver/step_simulation simulation_interfaces/srv/StepSimulation "{steps: 10}"
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```
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**GetSimulationState Service**
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### GetSimulationState Service
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Get the current simulation state (playing/paused/stopped).
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```bash
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ros2 service call /gzserver/get_simulation_state simulation_interfaces/srv/GetSimulationState "{}"
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```
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**SetSimulationState Service**
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### SetSimulationState Service
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Set the simulation state (play/pause/stop).
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ros2 service call /gzserver/set_simulation_state simulation_interfaces/srv/SetSimulationState "{state: {state: 3}}"
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```
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**SimulateSteps Action**
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### SimulateSteps Action
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Step the simulation forward by a specified number of steps with feedback and cancellation support.
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| `SpawnEntity` | `/gzserver/spawn_entity` | Service | Spawn a new entity in the simulation at a specific location |
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| `DeleteEntity` | `/gzserver/delete_entity` | Service | Delete an existing entity by name |
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**SpawnEntity Service**
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### SpawnEntity Service
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Spawn a new entity in the simulation at a specific location.
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}"
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```
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**DeleteEntity Service**
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### DeleteEntity Service
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Delete an existing entity by name.
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@@ -130,23 +131,23 @@ The following interfaces are used to introspect simulation world and entity stat
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| `GetEntitiesStates` | `/gzserver/get_entities_states` | Service | Get the state for multiple entities (optionally filtered) |
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| `GetEntities` | `/gzserver/get_entities` | Service | Get a list of entities (optionally filtered) |
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**GetEntityState Service**
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### GetEntityState Service
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Get the pose and twist of a specific entity.
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```bash
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ros2 service call /gzserver/get_entity_state simulation_interfaces/srv/GetEntityState "{entity: 'my_model'}"
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```
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**GetEntitiesStates Service**
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### GetEntitiesStates Service
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Get the state of multiple entities (optionally filtered).
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```bash
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ros2 service call /gzserver/get_entities_states simulation_interfaces/srv/GetEntitiesStates "{filters: {filter: ''}}"
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```
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**GetEntites Service**
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### GetEntites Service
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Get the list of entities (optionally filtered).
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@@ -163,7 +164,7 @@ supported features.
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|----------------|------------|------|-------------|
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| `GetSimulatorFeatures` | `/gzserver/get_simulator_features` | Service | Query which interface features are supported |
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**GetSimulatorFeatures Service**
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### GetSimulatorFeatures Service
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Query which interface features are supported.
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‎jetty/ros2_sim_interfaces.md‎

Lines changed: 13 additions & 12 deletions
Original file line numberDiff line numberDiff line change
@@ -8,6 +8,7 @@ provide a unified way to control and observe simulation using ROS 2.
88
Gazebo has implemented these interfaces, enabling tasks like spawning entities, stepping
99
simulation, querying world state, etc. through standard ROS 2 calls. In this tutorial we
1010
will learn how to interact with a running Gazebo simulation for the following tasks,
11+
1112
- [Simulation Control](#simulation-control)
1213
- [Entity Management](#entity-management)
1314
- [State Query](#state-query)
@@ -23,33 +24,33 @@ The following services and actions are available to control the flow of simulati
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| `StepSimulation` | `/gzserver/step_simulation` | Service | Step the simulation forward by a specified number of steps |
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| `GetSimulationState` | `/gzserver/get_simulation_state` | Service | Get the current simulation state (playing/paused/stopped) |
2526
| `SetSimulationState` | `/gzserver/set_simulation_state` | Service | Set the simulation state (play/pause/stop) |
26-
| `SimulateSteps` | `/gzserver/simulate_steps` | Action | Step the simulation forward by a specified number of steps with feedback and cancellation support |
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| `SimulateSteps` | `/gzserver/simulate_steps` | Action | Step the simulation forward by a specified number of steps with feedback and cancellation support |
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**ResetSimulation Service**
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### ResetSimulation Service
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Reset the simulation to its initial state.
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```bash
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ros2 service call /gzserver/reset_simulation simulation_interfaces/srv/ResetSimulation "{}"
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```
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**StepSimulation Service**
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### StepSimulation Service
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Step the simulation forward by a specified number of steps.
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```bash
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ros2 service call /gzserver/step_simulation simulation_interfaces/srv/StepSimulation "{steps: 10}"
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```
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**GetSimulationState Service**
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### GetSimulationState Service
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Get the current simulation state (playing/paused/stopped).
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```bash
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ros2 service call /gzserver/get_simulation_state simulation_interfaces/srv/GetSimulationState "{}"
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```
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**SetSimulationState Service**
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### SetSimulationState Service
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Set the simulation state (play/pause/stop).
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ros2 service call /gzserver/set_simulation_state simulation_interfaces/srv/SetSimulationState "{state: {state: 3}}"
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```
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**SimulateSteps Action**
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### SimulateSteps Action
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Step the simulation forward by a specified number of steps with feedback and cancellation support.
8384

@@ -94,7 +95,7 @@ The following interfaces are used to create or remove entities in the simulation
9495
| `SpawnEntity` | `/gzserver/spawn_entity` | Service | Spawn a new entity in the simulation at a specific location |
9596
| `DeleteEntity` | `/gzserver/delete_entity` | Service | Delete an existing entity by name |
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97-
**SpawnEntity Service**
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### SpawnEntity Service
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Spawn a new entity in the simulation at a specific location.
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@@ -112,7 +113,7 @@ ros2 service call /gzserver/spawn_entity simulation_interfaces/srv/SpawnEntity "
112113
}"
113114
```
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**DeleteEntity Service**
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### DeleteEntity Service
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Delete an existing entity by name.
118119

@@ -130,23 +131,23 @@ The following interfaces are used to introspect simulation world and entity stat
130131
| `GetEntitiesStates` | `/gzserver/get_entities_states` | Service | Get the state for multiple entities (optionally filtered) |
131132
| `GetEntities` | `/gzserver/get_entities` | Service | Get a list of entities (optionally filtered) |
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**GetEntityState Service**
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### GetEntityState Service
134135

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Get the pose and twist of a specific entity.
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```bash
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ros2 service call /gzserver/get_entity_state simulation_interfaces/srv/GetEntityState "{entity: 'my_model'}"
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```
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**GetEntitiesStates Service**
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### GetEntitiesStates Service
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Get the state of multiple entities (optionally filtered).
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```bash
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ros2 service call /gzserver/get_entities_states simulation_interfaces/srv/GetEntitiesStates "{filters: {filter: ''}}"
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```
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**GetEntites Service**
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### GetEntites Service
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Get the list of entities (optionally filtered).
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@@ -163,7 +164,7 @@ supported features.
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|----------------|------------|------|-------------|
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| `GetSimulatorFeatures` | `/gzserver/get_simulator_features` | Service | Query which interface features are supported |
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**GetSimulatorFeatures Service**
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### GetSimulatorFeatures Service
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168169
Query which interface features are supported.
169170

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