Provided by: gazebo_11.10.2+dfsg-1_amd64 bug

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:

       --verbose
              Print extra information

       -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:

       --verbose
              Print extra information

       -h, --help
              Print this help message

       -o, --option=arg
              Show the command options.

   help
       gz help [options]

       Output information about a gz command.

       Options:

       --verbose
              Print extra information

       -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.

       It is recommended to use only one type of command: force, position PID, or velocity PID.

       Force: Use --force to apply a force.

       Position  PID:  Use --pos-t to specify a target position with --pos-p, --pos-i, --pos-d to
       specify the PID parameters.

       Velocity PID: Use --vel-t to specify a target velocity with --vel-p, --vel-i,  --vel-d  to
       specify the PID parameters.

       Options:

       --verbose
              Print extra information

       -h, --help
              Print this help message

       -w, --world-name=arg
              World name.

       -m, --model-name=arg
              Model name.

       -j, --joint-name=arg
              Joint name.

       -f, --force=arg
              Force to apply to a joint (N).

       --pos-t=arg
              Target angle(rad) for rotation joints or position (m) for linear joints.

       --pos-p=arg
              Position proportional gain.

       --pos-i=arg
              Position integral gain.

       --pos-d=arg
              Position differential gain.

       --vel-t=arg
              Target speed (rad/s for rotational joints or m/s for linear joints).

       --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:

       --verbose
              Print extra information

       -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.

       -o, --output=arg
              Output  file, valid in conjunction with the filter, raw, hz, and encoding commands.
              By default, the output file will  have  the  same  encoding  as  the  source  file.
              Override with the --encoding option

       -n, --encoding=arg
              Specify  the  encoding (txt, zlib, or bz2) for an output file. Valid in conjunction
              with the output command. See also the --output argument.

       --filter=arg
              Filter output. Valid only with the echo, step, and output commands

   marker
       gz marker [options]

       Add, modify, or delete visual markers.

       Option Details

       -a, --add: No argument

       This option indicates that a marker should be added or modified.  Use this in  conjunction
       with -t to specify a marker type, -i to specify a marker id, -p to specify a parent, -f to
       specify a lifetime for the marker, or -n to specify a namespace.

       -n, --namespace: string argument

       Namespaces allow markers to be grouped. This option can be used the -a and -x command. The
       default namespace is empty string.

       -i, --id: integer argument

       Each  marker  has  a  unique  id. Use this option with the -a command to assign an id to a
       marker. If -i is not specified, a value of zero will be used.

       -t, --type: string argument

       Use this command with -a to specify a marker type. The string argument  must  be  one  of:
       sphere,   box,  cylinder,  line_list,  line_strip,  points,  sphere,  text,  triangle_fan,
       triangle_list, triangle_strip.

       -p, --parent: string argument

       A marker can be attached to an existing visual. Use this command  with  -a  to  specify  a
       parent visual. By default a marker is not attached to a parent visual.

       -f, --lifetime: double argument

       A  marker's  lifetime  is  the number of seconds that it will exist.  Time starts counting
       when the marker is created. By default a marker has an infite lifetime.

       -d, --delete: integer argument

       This option will delete a single marker, if a marker exists with  the  specified  id.  The
       integer argument is the id of the marker to delete.

       -x, --delete-all: no argument

       Delete all markers.

       -l, --list: no argument

       List all markers.

       -y, --layer: integer argument

       Add or move a marker to the specified layer. Use this argument with   the -a argument.

       -m, --msg: string argument

       Use  this  option  to  send  a  custom marker message. This option will override all other
       command line options. Details about the marker message can be found using:

       $ ign msg -i ign_msgs.Marker

       Example:

       $ gz marker -m 'action: ADD_MODIFY, type: SPHERE, id: 2, scale: {x:0.2, y:0.4, z:1.2}'

       Options:

       --verbose
              Print extra information

       -h, --help
              Print this help message

       -a, --add
              Add or modify a visual marker

       -m, --msg=arg
              Specify and send a marker message.

       -n, --namespace=arg
              Namespace for the visual marker

       -i, --id=arg
              Positive integer value of a visual marker

       -t, --type=arg
              Type of geometry: box,  cylinder,  sphere,  line_list,  line_strip,  points,  text,
              triangle_fan, triangle_list, triangle_strip

       -p, --parent=arg
              Name of a visual to which this marker should be attached.

       -f, --lifetime=arg
              Simulation time the marker should last before deletion.

       -d, --delete
              Delete an existing visual marker.

       -x, --delete-all
              Delete all markers, or all markers in a namespace.

       -l, --list
              Get a list of the visual markers.

       -y, --layer=arg
              Add or move a marker to the specified layer.

   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:

       --verbose
              Print extra information

       -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:

       --verbose
              Print extra information

       -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:

       --verbose
              Print extra information

       -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:

       --verbose
              Print extra information

       -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 or publish a message on a topic.  If  a  name  for
       the world, option -w, is not specified, the first world found on the Gazebo master will be
       used.

       Options:

       --verbose
              Print extra information

       -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.

       -p, --publish=arg
              Publish message on a topic.

       -r, --request=arg
              Send a request.

       -u, --unformatted
              Output data from echo without formatting.

       -d, --duration=arg
              Duration (seconds) to run. Applicable with echo, hz, and bw

       -m, --msg=arg
              Message to send on topic. Applicable with publish and request

       -f, --file=arg
              Path to a file containing the message to send on topic. Applicable with publish and
              request

   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:

       --verbose
              Print extra information

       -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)