Robot simulation made easy.

Why Gazebo?

Robot simulation is an essential tool in every roboticist's toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, and perform regression testing using realistic scenarios. 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. Best of all, Gazebo is free with a vibrant community.

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Updated Tutorials

May 12, 2014

We are making great progress on Gazebo's goals for version 4.0. The first item tackled is an updated tutorial system. Until now, Gazebo tutorials have resided on the wiki. While the wiki format is convenient in many ways, it was not well suited to our needs. For instance, tutorial versioning is difficult, and there was limited edit control.

The new tutorial…

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General information and tutorials.


Mailing List

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Get Started

Links and detailed information.



Dynamics Simulation

Access multiple high-performance physics engines including ODE, Bullet, Simbody, and DART.


Advanced 3D Graphics

Utilizing OGRE, Gazebo provides realistic rendering of environments including high-quality lighting, shadows, and textures.


Sensors & Noise

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.


Robot Models

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, Softlayer, or your own OpenStack instance.


Command Line Tools

Extensive command line tools facilitate simulation introspection and control.


Get the Source

If you'd like the full source, you can check it out from our BitBucket repository, or clone it with this command:

hg clone

Want to contribute? Fork the Gazebo repository, and learn more about contributing.

Get Started

Get your feet wet

  1. Quick Start

    A simple set of steps to get Gazebo up and running rapidly.

  2. Tutorials

    The best way to start using Gazebo is to run through the tutorials. These tutorials cover both basic and simple concepts through a series of exercises.

  3. Examples

    Check out the example worlds and programs that are in the source code.


    If you can't find what you are looking for, try our askbot help forum located at

  5. Mailing list

    Still need help? Send a message to the gazebosim mailing list.

Information Sources

  1. Gazebo Overview

    A high-level description of Gazebo and its various components.

  2. Gazebo API

    Doxygen generated documentation for the Gazebo libraries.

  3. Protobuf Messages

    A complete list of all the protobuf messages used by Gazebo

  4. SDFormat Specification

    SDFormat is an XML file format that defines environments and models. This specification defines all the XML elements for describing world and models.

Project Status

Gazebo 5.0 Progress

Jul 28, 2014
Feature freeze
Code freeze
Jan 26, 2015

Release Schedule and Roadmap

Gazebo will release a new major version every 6 months. Starting with Gazebo 4.0, releases will occur on the last week of January and July.

The following roadmap is a best guess at the available features for each version. At the time of release more or fewer features may be available.

Gazebo 1.92013-07-24

  • Split out SDFormat into a separate package
  • Improved ROS support
  • Added Sonar, Force-torque, and pressure sensors
  • Allow user camera to follow objects
  • Basic OS X support

Gazebo 2.22013-11-07

Ubuntu P,Q,R,S
  • Improved shadow maps
  • Breakable walls
  • Visualize moment of inertia
  • Graphically resize simple shapes
  • Wireless transceiver sensor models
  • OpenAL audio support
  • Terrain paging

Gazebo 3.02014-04-11

Ubuntu P,R,S,T
  • Unified command line tool
  • Lightmaps for improved rendering realism
  • Destructable simple shapes
  • Import DEM
  • Split in Debian packages, moving to Debian inclusion of Gazebo
  • Beta OSX support
  • Bullet support

Gazebo 4.02014-07-28

  • GUI overlay support
  • New transport layer
  • Vehicle suspension models
  • GUI plotting utility
  • Improved GUI logging utility
  • PropShop Integration
  • GUI robot model editor
  • Physics plugin API
  • More tutorials and documentation
  • Visualize soft bodies

Gazebo 5.02015-01-26

  • Support other graphics cards (intel, amd)
  • Support for Windows
  • Clone running simulations
  • CloudSim integration
  • Terrain GUI editor
  • GUI console (display server messages)
  • Improved aerodynamics
  • GUI movie maker
  • More robot models, canned environments, and objects

Gazebo 6.02015-07-27

  • In-gui tutorials
  • GUI tools: measure distances, undo, cut/paste, paint colors/textures
  • Allow users to report usage statistics to OSRF
  • Scriptable models

Gazebo 7.02016-01-25

  • TBD


Gazebo uses semantic versioning, a package numbering scheme that specifies ABI/API compatibility between releases. A version consists of three numbers separated by decimal points: MAJOR.MINOR.PATCH:
  • MAJOR version changed when incompatible ABI/API changes are made
  • MINOR version changed when functionality has been added in a backwards-compatible manne
  • PATCH version changed when backwards-compatible bug fixes are released


Measurement Gazebo 1.9 Gazebo 2.2 Gazebo 3.0
Lines of code 186k 197k 214k
Lines of comments 57k 63k 68k
Test function coverage 45.7% 47.1% 41.3%
Test branch coverage 32.2% 35.5% 29.2%
Passing tests * 168 376 524
Failing tests * 0 0 0
gcc/clang compiler warnings 0 0 0
*Performed on Ubuntu Quantal with Nvidia GPU


  • cppcheck Static code checker
  • cpplint Code style checker
  • gtest & qtest Test systems
  • Jenkins Continuous integration
  • Pre-commit, 2 reviewers Code review
  • Doxygen API Documentation
  • ABI Compliance Checker (ACC) API/ABI compliance

Physics Engine Support

Gazebo 3.0+ supports the ODE, Bullet, Simbody and DART physics engines. By default Gazebo is compiled with support for ODE. In order to use the other engines, first make sure they are installed and then compile Gazebo from source.

Physics Engine Gazebo Version Availability Notes
ODE 1.9+ Binary,Source Default engine
Bullet 3.0+ Source Gazebo requires libbullet2.82, available in the OSRF repository and to be included in Ubuntu Utopic.
Simbody 3.0+ Source Simbody packages are hosted in the OSRF repository. Expected to appear in Ubuntu Utopic official repositories.
DART 3.0+ Source DART packages are hosted in dartsim PPA. DART is in the process of moving toward inclusion in Ubuntu.
We are developing a physics plugin framework to resolve dependency issues. Each physics engine will interface to Gazebo through a plugin, avoiding the need to compile Gazebo with support for each engine.


Gazebo development began in the fall of 2002 at the University of Southern California. The original creators were Dr. Andrew Howard and his student Nate Koenig. The concept of a high-fidelity simulator stemmed from the need to simulate robots in outdoor environments under various conditions. As a complementary simulator to Stage, the name Gazebo was chosen as the closest structure to an outdoor stage. The name has stuck despite the fact that most users of Gazebo simulate indoor environments.

Over the years, Nate continued development of Gazebo while completing his PhD. In 2009, John Hsu, a Senior Research Engineer at Willow, integrated ROS and the PR2 into Gazebo, which has since become one the primary tools used in the ROS community. A few years later in the Spring of 2011, Willow Garage started providing financial support for the development of Gazebo. In 2012, Open Source Robotics Foundation (OSRF) spun out of Willow Garage and became the steward of the Gazebo project. After significant development effort by a team of talented individuals, OSRF used Gazebo to run the Virtual Robotics Challenge, a component in the DARPA Robotics Challenge, in July of 2013.

OSRF continues development of Gazebo with support from a diverse and active community. Stay tuned for more exciting developments related to robot simulation.