Gazebo
Gazebo brings a fresh approach to simulation with a complete toolbox of development libraries and cloud services to make simulation easy. Iterate fast on your new physical designs in realistic environments with high fidelity sensors streams. Test control strategies in safety, and take advantage of simulation in continuous integration tests. Full project details are available at GazeboSim.org
There are two major versions of Gazebo: Gazebo Classic (which is End of Life), and Gazebo (formerly Ignition). Gazebo Classic releases use numbers to track versions while Gazebo uses lettered release names (e.g. Fortress, Garden, etc). A comparison between the two major versions of Gazebo can be found here. We recommend new Gazebo users start with the lastest long term release Gazebo Jetty. Check out this video if you want to learn all about the new features in Gazebo Jetty.
Looking to get started with simulations in Gazebo? Our installation guide is available here. If you want to install Gazebo and ROS together we recommend this guide. Once you've installed Gazebo start learning with our beginner tutorials.
If you are interested in contributing to Gazebo, we'd love to have you! Start by familiarizing yourself with our contribution guide. Then look for an open issue labeled "good first issue" (handy link) that seems interesting. Comment on the issue that you're interested in working on it and one of the maintainers will assign the issue to you. Following the contribution guide mentioned before, create your first pull request. Issues labeled "help wanted" are also up for grabs (handy link), but they will require more experience with the code base.
Join the Gazebo Community
- Gazebo Discussion Forum on Open Robotics Discourse
- ROS Zulip Chat -- best for developer conversations
- Robotics Stack Exchange -- best for getting Gazebo support
- Official Gazebo Videos
- Gazebo Resource Status Page
- Gazebo Documentation Index
- Gazebo Project Board
- Gazebo Installation Instructions
- Gazebo Tutorials
- Gazebo Documentation
- Gazebo Website
- Gazebo Source Code
- Gazebosim Simulation Assets (aka Fuel)
- Gazebo Plugins
- Gazebo Youtube Channel
- Gazebo Graphics and Trademark
- ROS / Gazebo Installation Guide
- ROS 2 / Gazebo Project Template
- ROS 2 / Gazebo Example Code
- TurtleBot4 Simulator
- ROS / GZ Bridge
- ROSCon, our yearly developer conference that includes Gazebo developers.
- Open Source Robotics Foundation Events Calendar -- submit an event
- Open Source Robotics Foundation Community Events Calendar -- submit an event
Gazebo is made possible through the generous support of open source contributors and the non-profit Open Source Robotics Foundation (OSRF). Tax deductible donations to the OSRF can be made here.
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Repositories
- gz-sensors Public
Provides numerous sensor models designed to generate realistic data from simulation environments.
- gz-transport Public
Transport library for component communication based on publication/subscription and service calls.
- gz-rendering Public
C++ library designed to provide an abstraction for different rendering engines. It offers unified APIs for creating 3D graphics applications.
- gz-fuel-tools Public
A client library and command line tools for interacting with Gazebo Fuel servers.
- gz-common Public
An audio-visual library supports processing audio and video files, a graphics library can load a variety 3D mesh file formats into a generic in-memory representation, and the core library of Gazebo Common contains functionality that spans Base64 encoding/decoding to thread pools.