Gazebo Topic Naming Conventions

Overview

Although the topic naming system between Gazebo and ROS look similar, there are a few subtle yet important differences. It is important to get this right to make sure your messages get routed to the right place, and the entire system is scalable and modular when more robots get added to the environment.

Gazebo publishers and subscribers are associated with a containing node.

A tilde (~) in the topic name is shorthand for the default world. This normally expands to /gazebo/default.