To rotate an object within the Gazebo simulation environment, you need to enter the dedicated rotation mode. This mode allows you to manipulate the object's orientation around its axes.
Activating Rotate Mode in Gazebo
Entering rotate mode is the primary step in changing the orientation of an object, such as a model of a gazebo, within the simulation. The Gazebo simulator provides multiple convenient methods to activate this feature.
The reference states that you can enter rotate mode by:
- Clicking the third icon from the left in the top left toolbar.
- Using the Transform Control plugin.
- Hitting the keyboard shortcut: R.
Once rotate mode is active, you can then manipulate the selected entity (the "gazebo" model or any other object) around the roll, pitch, and yaw axes of rotation. The specific way you interact with the model after entering this mode (e.g., dragging with the mouse, using widgets) depends on the simulator's interface, but entering the mode is the essential first step provided by the reference.
Methods to Enter Rotate Mode
Here is a summary of the ways to enter the rotation mode as outlined in the reference:
| Method | Description |
|---|---|
| Toolbar Icon | Click the third icon from the left in the top left toolbar. |
| Transform Control Plugin | Utilize the specific plugin designed for transformations. |
| Keyboard Shortcut | Press the R key on your keyboard. |
Using one of these methods will enable the tools necessary for rotating the selected entity within the Gazebo environment.
Understanding Rotation Axes
The rotate mode allows you to rotate entities around the roll, pitch, and yaw axes.
- Roll: Rotation around the forward/backward axis.
- Pitch: Rotation around the side-to-side axis.
- Yaw: Rotation around the up/down axis.
By entering rotate mode and manipulating the object using the provided interface tools (often visual widgets or numerical inputs), you can precisely adjust its orientation according to these axes.
