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Drift CLI provides seamless integration with Gazebo Sim, making it easy to launch, configure, and manage robotics simulations through natural language commands.

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Gazebo Sim support

Drift CLI is designed to work with Gazebo Sim (Harmonic), the next-generation robotics simulator.

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What is Gazebo Sim?

Gazebo Sim (formerly known as Ignition Gazebo) is the modern version of the Gazebo simulator:
  • More modular architecture
  • Better performance and scalability
  • Improved sensor simulation
  • Enhanced physics engines
Classic Gazebo (versions 9, 10, 11) is not currently supported. Make sure you have Gazebo Sim (Harmonic) installed.
Support for older versions of Gazebo is coming soon. Check the release notes for updates.

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Simulation launching

Drift makes it simple to launch Gazebo simulations using natural language: 
drift> launch my robot with the custom world file
Drift will:
  1. Locate your robot description files (URDF/SDF)
  2. Find the specified world file
  3. Generate appropriate launch files
  4. Start Gazebo Sim with proper configuration
  5. Spawn your robot in the simulation

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Automatic launch file generation

When you request a simulation launch, Drift automatically:
  • Creates ROS2 launch files (Python or XML)
  • Configures Gazebo parameters
  • Sets up necessary nodes and bridges
  • Validates the configuration before launching
You don’t need to manually write launch files. Just describe what you want to simulate, and Drift handles the configuration.

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World file handling

Drift CLI understands Gazebo world files and can work with them intelligently:

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Using existing worlds

Reference world files in your commands: 
drift> launch the robot in the warehouse world
Drift will:
  • Search for matching world files in your workspace
  • Load the world file with your robot
  • Configure the environment properly

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World file locations

Drift looks for world files in standard locations:
  • Your current ROS2 workspace
  • Package-specific world directories
  • System-wide Gazebo resource paths
Make sure your world files are in accessible locations within your ROS2 workspace for Drift to find them easily.

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Sensor configuration

One of Drift’s most powerful features is intelligent sensor management:

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Adding sensors

Add sensors to your robot using natural language: 
drift> add a lidar sensor to my robot
drift> add a camera sensor with 1920x1080 resolution
drift> add an IMU to the robot base
Drift will:
  1. Modify your robot description (URDF/SDF)
  2. Add the sensor with appropriate properties
  3. Configure ROS2 topics and plugins
  4. Rebuild the workspace if needed

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Supported sensors

Drift understands common robotics sensors:
  • Cameras - RGB cameras with configurable resolution
  • Depth cameras - RGB-D sensors for 3D perception
  • Lidar - 2D and 3D laser scanners
  • IMU - Inertial measurement units
  • GPS - Global positioning sensors
  • Contact sensors - Touch and collision detection
Be specific about sensor requirements in your commands. For example, “add a 360-degree lidar with 0.1 degree resolution” gives Drift more context for proper configuration.

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Sensor debugging

Drift can help troubleshoot sensor issues: 
drift> why isn't my camera publishing images?
Drift will:
  • Check sensor plugin configuration
  • Verify ROS2 topic connections
  • Validate sensor parameters
  • Suggest fixes for common issues

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Robot creation and modification

Drift can generate and modify robot descriptions:

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Creating robots

drift> create a three arm manipulator with camera sensor
Drift will:
  • Generate a robot description (URDF/SDF)
  • Add the specified components and sensors
  • Configure joints and links properly
  • Set up ROS2 control interfaces

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Modifying existing robots

drift> add wheels to my robot for mobility
drift> change the camera position to the front of the robot
Drift intelligently modifies your existing robot descriptions while maintaining structural integrity.
Always back up your robot description files before making significant modifications. Use version control to track changes.

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Process management

Drift tracks running Gazebo simulations: 
drift> /ps
This shows:
  • Active Gazebo instances
  • Spawned robots and models
  • Related ROS2 nodes and bridges
You can manage these processes without manually tracking terminal windows or process IDs.

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Real-time error recovery

Drift includes adaptive planning for simulation issues:
  • Detects failed launches
  • Identifies configuration errors
  • Suggests fixes automatically
  • Can retry with corrected parameters
If a simulation fails to launch, describe the error to Drift. The AI can analyze logs and help troubleshoot the issue.

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Integration with ROS2

Gazebo Sim integration works seamlessly with ROS2:
  • Automatic ROS2-Gazebo bridge configuration
  • Topic remapping and namespace management
  • Parameter server integration
  • TF (transform) broadcasting
Drift handles the complexity of connecting ROS2 and Gazebo Sim, so you can focus on your robotics application.

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