Gazebo – robot simulation made easy

Gazebo offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces.

Gazebo simulates multiple robots in a 3D environment, with extensive dynamic interaction between objects.

Robot simulation is an essential tool in every roboticist’s toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios.

Features include:

  • Dynamics simulation – access multiple high-performance physics engines including ODE, Bullet, Simbody, and DART.
  • Advanced 3D graphics – using OGRE, Gazebo provides realistic rendering of environments including high-quality lighting, shadows, and textures.
  • Generate sensor data, optionally with noise, from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors, force-torque, and more.
  • Develop custom plugins for robot, sensor, and environmental control. Plugins provide direct access to Gazebo’s API. Plugins can either be loaded on the command line, or specified in an SDF file. There are 6 types of plugins:
    • World.
    • Model.
    • Sensor.
    • System.
    • Visual.
    • GUI.
  • Robot models – many robots are provided including PR2, Pioneer2 DX, iRobot Create, and TurtleBot. Or build your own using SDF.
  • Many robots are provided including PR2, Pioneer2 DX, iRobot Create, and TurtleBot. Or build your own using SDF.
  • TCP/IP transport – run simulation on remote servers, and interface to Gazebo through socket-based message passing using Google Protobufs.
  • Cloud simulation – use CloudSim to run Gazebo on Amazon AWS and GzWeb to interact with the simulation through a browser.
  • Command line tools – extensive command line tools facilitate simulation introspection and control.

Support: Bitbucket, Tutorials
Developer: Nate Koenig, John Hsu
License: Apache License Version 2.0

Gazebo is written in C++. Learn C++ with our recommended free books and free tutorials.

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