### Start Gazebo with a Sample World

Source: https://github.com/gazebosim/docs/blob/master/rotary/GUI_tutorial.md

Launches the Gazebo simulator with the 'shapes.sdf' world. Ensure Rotary is installed.

```bash
gz sim shapes.sdf
```

--------------------------------

### Source Workspace Setup Script (bash)

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Source the setup script for the bash shell to make the installed Gazebo binaries available in the current terminal session. This is required every time a new terminal is opened.

```bash
. ~/workspace/install/setup.bash
```

--------------------------------

### Add Gazebo Repositories and Install

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_ubuntu.md

Adds the Gazebo nightly and stable repositories and installs the gz-rotary metapackage.

```bash
sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-nightly $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-nightly.list > /dev/null
sudo apt-get update
sudo apt-get install gz-rotary
```

--------------------------------

### Install gz_tools_vendor for gz command

Source: https://github.com/gazebosim/docs/blob/master/common/ros2_gz_vendor_pkgs.md

To use the `gz` command-line tool, ensure the `gz_tools_vendor` package is installed. Source the ROS setup file to add the `gz` command to your PATH.

```bash
# Source the ROS setup file
source /opt/ros/${ROS_DISTRO}/setup.bash
```

--------------------------------

### Install General Dependencies

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Install a comprehensive list of general dependencies required for building Gazebo Libraries using Homebrew.

```bash
brew install assimp boost bullet cli11 cmake cppzmq dartsim doxygen eigen fcl ffmpeg flann freeimage freetype gdal gflags google-benchmark ipopt jsoncpp libccd libyaml libzzip libzip nlopt ode open-scene-graph ossp-uuid ogre1.9 ogre2.3 pkg-config protobuf qt@6 qwt rapidjson ruby tbb tinyxml2 urdfdom zeromq
```

--------------------------------

### Install Rotary on Ubuntu

Source: https://github.com/gazebosim/docs/blob/master/rotary/rotary.md

Installs prerequisite tools for adding the Gazebo nightly repository and then installs the Rotary metapackage.

```bash
sudo apt-get update
sudo apt-get install curl lsb-release gnupg
```

```bash
sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-nightly $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-nightly.list > /dev/null
sudo apt-get update
```

```bash
sudo apt-get install gz-rotary
```

--------------------------------

### Set up Python Virtual Environment and Install vcstool/colcon

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Create a Python virtual environment for installing vcstool and colcon. This isolates the dependencies for these tools.

```bash
python3 -m venv $HOME/vcs_colcon_installation
. $HOME/vcs_colcon_installation/bin/activate
pip3 install vcstool colcon-common-extensions
```

--------------------------------

### Source Workspace Setup Script (zsh)

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Source the setup script for the zsh shell to make the installed Gazebo binaries available in the current terminal session. This is required every time a new terminal is opened.

```zsh
. ~/workspace/install/setup.zsh
```

--------------------------------

### Install Generic Tools on Ubuntu

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_ubuntu_src.md

Installs essential tools required for source compilation and dependency management on Ubuntu systems.

```bash
sudo apt update && sudo apt install -y python3-pip python3-venv lsb-release gnupg curl git
```

--------------------------------

### Install Necessary Tools

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_ubuntu.md

Installs essential tools like curl, lsb-release, and gnupg required for package management.

```bash
sudo apt-get update
sudo apt-get install curl lsb-release gnupg
```

--------------------------------

### Install Default Gazebo/ROS Pairing

Source: https://github.com/gazebosim/docs/blob/master/common/ros_installation.md

Installs the recommended version of Gazebo and ros_gz for your ROS installation. Replace ${ROS_DISTRO} with your ROS distribution (e.g., humble, rolling, noetic).

```bash
sudo apt-get install ros-${ROS_DISTRO}-ros-gz
```

--------------------------------

### Install Dependencies with Pixi

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_windows_src.md

Install all project dependencies defined in the pixi.toml file. This command should be run from within the Pixi project directory.

```bash
pixi install
```

--------------------------------

### Install release.py Dependencies

Source: https://github.com/gazebosim/docs/blob/master/common/release_instructions.md

Install the necessary dependencies for the `release.py` script using a Python virtual environment and pip. Ensure you are in the `release-tools` directory.

```bash
# you can change .releasepy_venv by any directory of your preference
python3 -m venv ~/.releasepy_venv
. ~/.releasepy_venv/bin/activate
cd <release-tools-dir>
pip install .
```

--------------------------------

### Example Package Structure: ros_gz_example_bringup

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros_gz_project_template_guide.md

This package contains launch files and utilities for communication between ROS and Gazebo, including robot or hardware-specific configurations.

```text
├── <span style="color:#12488B"><b>config</b></span>
│   ├── ros_gz_example_bridge.yaml
│   └── diff_drive.rviz
├── <span style="color:#12488B"><b>launch</b></span>
    └── diff_drive.launch.py
```

--------------------------------

### Install Python Dependencies

Source: https://github.com/gazebosim/docs/blob/master/README.md

Installs the necessary Python packages for building the Gazebo documentation from the requirements.txt file.

```bash
pip install -r requirements.txt
```

--------------------------------

### Serve Built Documentation Locally

Source: https://github.com/gazebosim/docs/blob/master/README.md

Starts an HTTP server to preview the built documentation locally on port 8000, serving files from the '.build' directory.

```bash
python3 -m http.server 8000 -d .build
```

--------------------------------

### Start Gazebo with an empty world

Source: https://github.com/gazebosim/docs/blob/master/rotary/Model_insertion_fuel.md

This command starts a Gazebo simulation with an empty world, serving as a prerequisite for adding models.

```bash
gz sim empty.sdf
```

--------------------------------

### Example Package Structure: ros_gz_example_gazebo

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros_gz_project_template_guide.md

This package contains Gazebo-specific code and configurations, including user-defined worlds and custom system plugins.

```text
├── <span style="color:#12488B"><b>include</b></span>
│   └── <span style="color:#12488B"><b>ros_gz_example_gazebo</b></span>
│       ├── BasicSystem.hh
│       └── FullSystem.hh
├── <span style="color:#12488B"><b>src</b></span>
│   ├── BasicSystem.cc
│   └── FullSystem.cc
├── <span style="color:#12488B"><b>worlds</b></span>
           └── diff_drive.sdf
```

--------------------------------

### Check Installed Gazebo Versions

Source: https://github.com/gazebosim/docs/blob/master/rotary/GUI_tutorial.md

Lists all installed versions of Gazebo on your system. Useful for verifying installations.

```bash
gz sim --versions
```

--------------------------------

### Example Package Structure: ros_gz_example_application

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros_gz_project_template_guide.md

This package holds ROS 2 specific code and configurations for control, planning, and high-level algorithms.

```text
├── CMakeLists.txt
├── package.xml
├── <span style="color:#12488B"><b>src</b></span>
    └── ...
```

--------------------------------

### Example Package Structure: ros_gz_example_description

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros_gz_project_template_guide.md

This package stores the SDF description of the simulated system and other simulation assets like models and meshes.

```text
├── <span style="color:#12488B"><b>hooks</b></span>
│   └── ros_gz_example_description.dsv.in
├── <span style="color:#12488B"><b>models</b></span>
       ├── <span style="color:#12488B"><b>diff_drive</b></span>
           ├── model.config
           └── model.sdf
```

--------------------------------

### Launch ROS 2 and Gazebo Bridge

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros2_integration.md

Use this command to start the ROS 2 and Gazebo bridge with a specified configuration file.

```bash
ros2 launch ros_gz_bridge ros_gz_bridge.launch.py bridge_name:=ros_gz_bridge config_file:=<path_to_your_YAML_file>
```

--------------------------------

### Install Dependencies from Source Workspace

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_ubuntu_src.md

Installs all required dependencies for the Gazebo collection from a workspace containing the source code on Ubuntu.

```bash
cd ~/workspace/src
sudo apt -y install \
  $(sort -u $(find . -iname 'packages-'`lsb_release -cs`'.apt' -o -iname 'packages.apt' | grep -v '/\.git/') | sed '/gz||sdf/d' | tr '\n' ' ')
```

--------------------------------

### Import ros_gz_project_template Workspace

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros_gz_project_template_guide.md

Clone the ros_gz_project_template using vcs to start a new project.

```bash
vcs import --input https://raw.githubusercontent.com/gazebosim/ros_gz_project_template/main/template_workspace.yaml
```

--------------------------------

### Create Prerelease for gz-cmake3

Source: https://github.com/gazebosim/docs/blob/master/common/release_instructions.md

Example of bumping gz-cmake3 to a prerelease version. This command uploads the prerelease to the repository.

```bash
cd gz-cmake3
git checkout gz-cmake3
~/release-tools/release.py gz-cmake3 3.0.0~pre1 --upload-to-repo prerelease
```

--------------------------------

### Install Server-Only Package

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_ubuntu.md

Installs the gz-sim-server package for headless environments, which includes only the simulation server without GUI dependencies.

```bash
sudo apt-get install gz-sim-server
```

--------------------------------

### Install Ogre Dependency (XQuartz)

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Install XQuartz, which is a dependency for Ogre. This is done using Homebrew Cask.

```bash
brew install --cask xquartz
```

--------------------------------

### Add PPA and Install Gazebo11

Source: https://github.com/gazebosim/docs/blob/master/common/install_gz11_side_by_side.md

Use these commands to add the Open Robotics PPA for Gazebo11 with a separate gz tool package and install or upgrade Gazebo11. This is necessary before installing new Gazebo versions to ensure side-by-side compatibility.

```bash
sudo add-apt-repository ppa:openrobotics/gazebo11-gz-cli
sudo apt update
sudo apt-get install gazebo11
```

--------------------------------

### Launch Gazebo Server Only

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros2_launch_gazebo.md

Use this command to start only the Gazebo server without the GUI, loading an empty world.

```bash
ros2 launch ros_gz_sim gz_server.launch.py world_sdf_file:=empty.sdf
```

--------------------------------

### Install launch, models, params, rviz, urdf, worlds directories

Source: https://github.com/gazebosim/docs/blob/master/common/migrating_gazebo_classic_ros2_packages.md

This CMake install command ensures that necessary directories for launch files, models, parameters, RViz configurations, URDF descriptions, and Gazebo worlds are installed to the correct share directory of the ROS 2 package.

```cmake
install(DIRECTORY launch models params rviz urdf worlds
  DESTINATION share/${PROJECT_NAME}/
)
```

--------------------------------

### Install Xcode Command Line Tools

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Install the necessary command-line developer tools for building software on macOS. This is a requirement for building Gazebo Libraries.

```bash
xcode-select --install
```

--------------------------------

### Launch Gazebo Server

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Launch the Gazebo server in one terminal. This command starts the simulation engine.

```bash
# launch server in one terminal
gz sim -v 4 shapes.sdf -s
```

--------------------------------

### Install Clang-Tidy for Additional Code Checks

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

Install clang-tidy and its development dependencies for more comprehensive code analysis. This step is optional but recommended for thorough checks.

```bash
sudo apt-get install clang-tidy-6.0 libclang-6.0-dev python-yaml
```

--------------------------------

### Install Gazebo Harmonic with ROS 2 Humble

Source: https://github.com/gazebosim/docs/blob/master/common/ros_installation.md

Installs Gazebo Harmonic and ROS 2 Humble using non-official binary packages from packages.osrfoundation.org. This is for advanced users needing a Gazebo version not officially supported by the ROS distro.

```bash
apt-get install ros-humble-ros-gzharmonic
```

--------------------------------

### Install ROS 2 and Gazebo Dependencies

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros_gz_project_template_guide.md

Installs necessary dependencies for a ROS 2 project. Ensure you are in your project workspace and have sourced your ROS 2 distribution.

```bash
cd ~/project_ws
source /opt/ros/<ROS_DISTRO>/setup.bash
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src -r -i -y --rosdistro <ROS_DISTRO>
```

--------------------------------

### Execute Gazebo Launch File

Source: https://github.com/gazebosim/docs/blob/master/rotary/sensors.md

Command to run a Gazebo launch file, which starts the simulation and the lidar node.

```sh
gz launch sensor_launch.gzlaunch
```

--------------------------------

### Install Dependencies with rosdep

Source: https://github.com/gazebosim/docs/blob/master/common/migrating_gazebo_classic_ros2_packages.md

Install package dependencies for the cloned `turtlebot3_simulations` package using `rosdep`. Ensure `rosdep init` has been run if this is the first time using `rosdep`.

```bash
sudo rosdep init # only needed if  using rosdep
rosdep install --from-paths . -i -y
```

--------------------------------

### Install New Gazebo Dependencies

Source: https://github.com/gazebosim/docs/blob/master/common/migrating_gazebo_classic_ros2_packages.md

After updating package.xml, use this command to automatically install the necessary Gazebo version and its dependencies. This command is typically run from the root of your workspace.

```bash
rosdep install --from-paths . -i -y
```

--------------------------------

### Create Nightly Build for gz-cmake3

Source: https://github.com/gazebosim/docs/blob/master/common/release_instructions.md

Example of creating a nightly build for gz-cmake3 from the main branch. This command uploads the nightly build to the repository.

```bash
# Example gz-cmake3 nightly from main branch
~/release-tools/release.py gz-cmake3 3.0.0~pre1 --upload-to-repo nightly --nightly-src-branch main
```

--------------------------------

### Launch Gazebo GUI

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Launch the Gazebo graphical user interface in a separate terminal. Remember to source the workspace setup script before launching.

```bash
# launch gui in a separate terminal
# remember to source the workspace setup script
gz sim -v 4 -g
```

--------------------------------

### Template Function Get Example

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

A template function returning a data type can use a stand-alone `Get`.

```cpp
public: template<typename T> T Get();
```

--------------------------------

### Accessor Function Naming (No 'Get')

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

Accessor functions should be named like nouns, not starting with 'Get'. Use patterns like 'NounByName' or 'NounById' for disambiguation if necessary.

```cpp
public:
  ::ServerConfig ServerConfig() const;
  ModelByName(const std::string& _name);
  gazebo::Entity Entity() const;
```

--------------------------------

### Create Workspace and Source Directories

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_windows_src.md

Create a workspace directory for building Gazebo and a 'src' subdirectory to hold the source code. Navigate into the workspace directory.

```bash
mkdir gz-ws
cd gz-ws
mkdir src
```

--------------------------------

### Build Gazebo Libraries with Merge Install

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Compile all Gazebo libraries using colcon with the --merge-install option. This is the standard build command after dependencies are met.

```bash
colcon build --merge-install
```

--------------------------------

### Mutator Naming Convention (Not Allowed)

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

Member functions that provide write access to protected data must start with `Set`. This example shows an incorrect naming convention.

```cpp
public: void ServerConfig(::ServerConfig &_config);
```

--------------------------------

### Install Colcon Sanitizer Reports

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

Install the colcon-sanitizer-reports package for enhanced sanitizer reporting.

```bash
git clone https://github.com/colcon/colcon-sanitizer-reports.git
cd colcon-sanitizer-reports
sudo python3 setup.py install
```

--------------------------------

### Install Colcon Sanitizer Mixins

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

Install and update colcon mixins for sanitizer support.

```bash
pip3 install colcon-mixin
colcon mixin add default https://raw.githubusercontent.com/colcon/colcon-mixin-repository/master/index.yaml
colcon mixin update default
```

--------------------------------

### Source Workspace and Activate Pixi Environment (Windows)

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_windows_src.md

Use these commands to set up a new terminal session for using the Gazebo workspace. This involves navigating to the Gazebo directory, activating the Pixi shell, and running the appropriate setup script for CMD or PowerShell.

```bash
# CMD
cd gazebo
pixi shell
call gz-ws\install\setup.bat
```

```powershell
# PowerShell
cd gazebo
pixi shell
.\gz-ws\install\setup.ps1
```

--------------------------------

### Build All Gazebo Documentation Versions

Source: https://github.com/gazebosim/docs/blob/master/README.md

Executes the build script to generate documentation for all Gazebo release versions.

```bash
python3 build_multiversion.py
```

--------------------------------

### Launch Gazebo Server and GUI Separately

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_windows_src.md

Launch the Gazebo server and GUI in separate terminals after ensuring both terminals have the workspace sourced, the Pixi shell activated, and QT environment variables set.

```bash
# Launch server in one terminal
gz sim -s

# In separate terminal, launch gui
gz sim -g
```

--------------------------------

### Launch RViz Demo with Gazebo

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros2_integration.md

Launch a ROS 2 demo that integrates with Gazebo and RViz for visualization. Ensure RViz is enabled.

```bash
ros2 launch ros_gz_sim_demos sdf_parser.launch.py rviz:=True
```

--------------------------------

### Install Rotary on macOS (Homebrew)

Source: https://github.com/gazebosim/docs/blob/master/rotary/rotary.md

Adds the OSRF simulation tap and installs the main Rotary metapackage or individual Rotary libraries.

```bash
brew tap osrf/simulation
brew install gz-rotary
```

```bash
brew install gz-rotary-math gz-rotary-sim
```

--------------------------------

### Install Dependencies using Rosdep

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_ubuntu_src.md

Installs dependencies using rosdep, skipping specified keys that may not be available or require manual handling.

```bash
cd ~/workspace/src
rosdep install -i --from-path . -y \
    --skip-keys "DART libogre-dev libogre-next-2.3-dev"
```

--------------------------------

### Spawn Model using ros_gz_sim Launch File

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros2_spawn_model.md

Use this command to spawn a new model into an existing Gazebo simulation via the `gz_spawn_model.launch.py` script provided by `ros_gz_sim`. It accepts parameters like world, file path, entity name, and pose.

```bash
ros2 launch ros_gz_sim gz_spawn_model.launch.py world:=empty file:=$(ros2 pkg prefix --share ros_gz_sim_demos)/models/vehicle/model.sdf entity_name:=my_vehicle x:=5.0 y:=5.0 z:=0.5
```

--------------------------------

### Launch Gazebo Simulation

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_windows_src.md

After sourcing the workspace, you can launch the Gazebo simulator with verbose output.

```bash
gz sim --verbose
```

--------------------------------

### Custom XML Launch File for Gazebo Server

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros2_launch_gazebo.md

This XML launch file demonstrates how to use the custom <gz_server/> tag to launch Gazebo server with configurable world SDF file and other parameters.

```xml
<launch>
  <arg name="world_sdf_file" default="empty.sdf" />
  <arg name="world_sdf_string" default="" />
  <arg name="container_name" default="ros_gz_container" />
  <arg name="create_own_container" default="False" />
  <arg name="use_composition" default="False" />
  <gz_server
    world_sdf_file="$(var world_sdf_file)"
    world_sdf_string="$(var world_sdf_string)"
    container_name="$(var container_name)"
    create_own_container="$(var create_own_container)"
    use_composition="$(var use_composition)">
  </gz_server>
</launch>
```

--------------------------------

### Install Python 3 from Homebrew

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Install the latest version of Python 3 using the Homebrew package manager. Rotary is compatible with Python 3.

```bash
brew install python3
```

--------------------------------

### Run Tests

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

Execute all tests for the project by running 'make test' in the build directory. This process may take some time.

```bash
make test
```

--------------------------------

### Configure Gazebo GUI client launch with ros_gz_sim

Source: https://github.com/gazebosim/docs/blob/master/common/migrating_gazebo_classic_ros2_packages.md

Launch the Gazebo GUI client using 'gz_sim.launch.py' by setting the 'gz_args' to '-g' for GUI mode. Ensure correct spacing for arguments.

```python
gzclient_cmd = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
    ),
    launch_arguments={'gz_args': '-g -v4 '}.items()
)


```

--------------------------------

### Download Pixi Configuration Files

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_windows_src.md

Download the necessary Pixi configuration files for Gazebo. Ensure you are in the directory where you want to create your Pixi project.

```bash
mkdir gazebo
cd gazebo
curl.exe -L -O https://raw.githubusercontent.com/gazebo-tooling/release-tools/refs/heads/master/conda/envs/noble_like/pixi.toml
curl.exe -L -O https://raw.githubusercontent.com/gazebo-tooling/release-tools/refs/heads/master/conda/envs/noble_like/pixi.lock
```

--------------------------------

### Remove Source-Based Install Workspace

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_windows_src.md

To uninstall a source-based Gazebo installation and free up disk space, delete the workspace directory. Ensure you replace `<workspace_name>` with your actual workspace directory name (e.g., `gz-ws`).

```bash
rmdir /s /q <workspace_name>  # gz-ws was used as workspace_name in this document
```

--------------------------------

### Build All Gazebo Libraries

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_windows_src.md

Build all Gazebo libraries and their dependencies. This command disables testing and SWIG, merges the install space, and builds up to gz-sim and gz-tools. Ensure you are in a Visual Studio Developer shell and have activated the Pixi shell.

```bash
colcon build --cmake-args -DBUILD_TESTING=OFF -DSKIP_SWIG=ON --merge-install --packages-up-to gz-sim gz-tools
```

--------------------------------

### Uninstall Gazebo Rotary

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_ubuntu.md

Removes the Gazebo Rotary metapackage and any automatically installed dependencies.

```bash
sudo apt remove gz-rotary && sudo apt autoremove
```

--------------------------------

### Variable Naming

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

Variables must start with a lowercase letter and capitalize subsequent words.

```cpp
int myVariable;
std::string myStringVariable;
```

--------------------------------

### Configure Gazebo Server launch with ros_gz_sim

Source: https://github.com/gazebosim/docs/blob/master/common/migrating_gazebo_classic_ros2_packages.md

Use the 'gz_sim.launch.py' from 'ros_gz_sim' to launch the Gazebo server. The 'gz_args' argument accepts flags like '-r' (run), '-s' (server only), and '-v4' (verbosity). Ensure proper spacing in the 'gz_args' list when using Python string formatting or LaunchConfiguration.

```python
gzserver_cmd = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        os.path.join(ros_gz_sim, 'launch', 'gz_sim.launch.py')
    ),
    launch_arguments={'gz_args': ['-r -s -v4 ', world], 'on_exit_shutdown': 'true'}.items()
)

```

--------------------------------

### Set up Visual Studio Command Prompt (CMD)

Source: https://github.com/gazebosim/docs/blob/master/rotary/troubleshooting.md

When compiling Gazebo on Windows, ensure the Visual Studio environment variables are set correctly. This command configures the prompt for x86_amd64 compilation.

```batch
"C:\Program Files (x86)\Microsoft Visual Studio\2019\Community\VC\Auxiliary\Build\vcvarsall.bat" x86_amd64
```

--------------------------------

### Call GetEntitiesStates Service

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros2_sim_interfaces.md

Use this service to get the states of multiple entities, with optional filtering.

```bash
ros2 service call /gzserver/get_entities_states simulation_interfaces/srv/GetEntitiesStates "{filters: {filter: ''}}"
```

--------------------------------

### Import Gazebo Sources with vcstool

Source: https://github.com/gazebosim/docs/blob/master/rotary/install_osx_src.md

Use vcstool to automatically retrieve all the Gazebo libraries sources from their respective repositories based on the provided YAML file.

```bash
vcs import < collection-rotary.yaml
```

--------------------------------

### Function Parameters Start with Underscore

Source: https://github.com/gazebosim/docs/blob/master/common/contributing.md

All function parameters must be prefixed with an underscore to distinguish them from local variables.

```cpp
void MyClass::MyFunction(int _parameter) {
  // ...
}
```

--------------------------------

### Gazebo Launch File

Source: https://github.com/gazebosim/docs/blob/master/rotary/sensors.md

XML configuration file to launch Gazebo simulation and the lidar_node simultaneously.

```xml
<?xml version='1.0'?>
<gz version='1.0'>
  <executable name='sensor-world'>
    <command>gz sim sensor_tutorial.sdf</command>
  </executable>

  <executable name='lidar_node'>
    <command>./build/lidar_node</command>
  </executable>

</gz>
```

--------------------------------

### Launch Gazebo World

Source: https://github.com/gazebosim/docs/blob/master/rotary/sensors.md

Launches a Gazebo world with the specified SDF file. This command is used to start the simulation.

```bash
gz sim sensor_tutorial.sdf

```

--------------------------------

### Listen to ROS 2 Topic

Source: https://github.com/gazebosim/docs/blob/master/rotary/ros2_integration.md

Start a ROS 2 listener to monitor messages published on a specific topic.

```bash
ros2 topic echo /keyboard/keypress
```

--------------------------------

### Build with Internal URDF on macOS

Source: https://github.com/gazebosim/docs/blob/master/rotary/troubleshooting.md

If 'urdf_model.h' is not found on macOS, install 'urdfdom' and 'urdfdom_headers', then rebuild with the internal URDF version.

```bash
brew install urdfdom urdfdom_headers
```

```bash
colcon build --cmake-args -DUSE_INTERNAL_URDF=ON --merge-install
```