Tutorials

Tutorials

Gazebo Version 1.7

New in 1.7

• Filter state logs: How to filter a recorded state log file.

Gazebo Version 1.6

New in 1.6

• Sensor noise models: How to add noise to sensors.
• Capture screenshot: How to capture a screenshot.

Gazebo Version 1.5

Beginner

• Install: Installation instructions
• Quick Start: How to run Gazebo with a simple environment.
• Components: This page provides and overview of the basic components in a Gazebo simulation.
• Make a model: Describes models, and how to use 3rd party modeling software to create custom models.
• Importing Meshes: How to import 3D meshes into Gazebo for use as visual and collision entities.
• Using the GUI: How to use the graphical interface.
• Random numbers: How to set the random number seed.
• Subscribing to Topics: How to subscribe to gazebo topics

Building a Robot With SDF

The Simulator Description Format (SDF) is an XML file format used to describe all the elements in a Gazebo simulation environment, including robots. These tutorials step you through creating a robot in this format. Each tutorial adds more complexity to the previous tutorial and is designed to be completed in order.

Note: if you already have a Universal Robotic Description Format (URDF) file of your robot from ROS you can optionally skip creating a SDF file and follow the instructions in the next section.

1. Make a mobile robot: How to make a 2-wheeled mobile robot.
2. Attach meshes: Improve visual appearance by attaching Collada meshes.
3. Add a sensor to a robot: How to add a laser sensor to a robot.
4. Make a simple gripper: Build a simple pinching gripper.
5. Attach Gripper to Robot: Connect the simple gripper to the mobile robot.

Building a Robot With URDF

The Universal Robotic Description Format (URDF) is an XML file format used in ROS to describe all the elements of a robot. To use a URDF file in Gazebo, some additional simulation-specific tags must be added to work properly with Gazebo.

1. Using A URDF In Gazebo: How to convert a robot's URDF file into a Gazebo-ready version.
2. Adding Gazebo Plugins To URDF: Integrating SDF-style plugins into a URDF

Plugins

These tutorials cover the creation and use of plugins to programmatically control world, model, and sensor state.

1. Plugins
2. Creating and Using Custom Messages

Sensors

1. Contact Sensors: How to create and get data from contact sensors.

Making a World

1. Building a World: How to populate a simulated world with simulated objects.
2. Modifying a World: How to change scene and physics parameters of a world using the GUI.
3. Programmatic World Control: How to manipulate a world through a plugin.

ROS Integration

1. Building a ROS-enabled Model Plugin.

CloudSim Tutorials

1. CloudSim tutorials.

DRC Tutorials

1. DRC-specific tutorials

Using Bullet

• Using Bullet : How to set Gazebo to use bullet as the physics engine

Gazebo Version 1.4

Beginner

• Install: Installation instructions
• Quick Start: How to run Gazebo with a simple environment.
• Components: This page provides and overview of the basic components in a Gazebo simulation.
• Make a model: Describes models, and how to use 3rd part modeling software to create custom models.
• Importing Meshes: How to import 3D meshes into Gazebo for use as visual and collision entities.
• Using the GUI: How to use the graphical interface.
• Random numbers: How to set the random number seed.
• Subscribing to Topics: How to subscribe to gazebo topics

Building a Robot

These tutorials are designed to be completed in order. Each tutorial adds more complexity to the previous tutorial. We recommend proceeding through these tutorials in order.

1. Make a mobile robot: How to make a 2-wheeled mobile robot.
2. Attach meshes: Improve visual appearance by attaching Collada meshes.
3. Add a sensor to a robot: How to add a laser sensor to a robot.
4. Make a simple gripper: Build a simple pinching gripper.
5. Attach Gripper to Robot: Connect the simple gripper to the mobile robot.

Plugins

These tutorials cover the creation and use of plugins to programmatically control world, model, and sensor state.

1. Plugins
2. Creating and Using Custom Messages

Sensors

1. Contact Sensors: How to create and get data from contact sensors.

Making a World

1. Building a World: How to populate a simulated world with simulated objects.
2. Modifying a World: How to change scene and physics parameters of a world using the GUI.
3. Programmatic World Control: How to manipulate a world through a plugin.

ROS Integration

1. Building a ROS-enabled Model Plugin.
2. Using ROS plugin in gazebo standalone .

CloudSim Tutorials

1. CloudSim tutorials.

DRC Tutorials

1. DRC-specific tutorials

Gazebo Version 1.3

Beginner

• Install: Installation instructions
• Quick Start: How to run Gazebo with a simple environment.
• Components: This page provides and overview of the basic components in a Gazebo simulation.
• Make a model: Describes models, and how to use 3rd part modeling software to create custom models.
• Importing Meshes: How to import 3D meshes into Gazebo for use as visual and collision entities.
• Using the GUI: How to use the graphical interface.
• Random numbers: How to set the random number seed.
• Logging Data: How to log and playback data.
• Subscribing to Topics: How to subscribe to gazebo topics

Building a Robot

These tutorials are designed to be completed in order. Each tutorial adds more complexity to the previous tutorial. We recommend proceeding through these tutorials in order.

1. Make a mobile robot: How to make a 2-wheeled mobile robot.
2. Attach meshes: Improve visual appearance by attaching Collada meshes.
3. Add a sensor to a robot: How to add a laser sensor to a robot.
4. Make a simple gripper: Build a simple pinching gripper.
5. Attach Gripper to Robot: Connect the simple gripper to the mobile robot.

Controlling a Robot

These tutorials assume you have accomplished the Building a Robot tutorials

1. Animate Pose: How to animate the pose of a model.
2. Animate Joint: How to animate position of a joint.
3. Control Model: How to control a model.
4. Controlling a mobile robot: How to make an extremely simple dynamic controller for your mobile base.
5. Controlling a mobile robot with its range sensor: How to make an extremely simple dynamic controller using sensor information from your mobile base.
6. Use PID class to control a simple slider joint in gazebo.

Plugins

These tutorials cover the creation and use of plugins to programmatically control world, model, and sensor state.

1. Plugins
2. Creating and Using Custom Messages

Sensors

1. Contact Sensors: How to create and get data from contact sensors.

Making a World

1. Building a World: How to populate a simulated world with simulated objects.
2. Modifying a World: How to change scene and physics parameters of a world using the GUI.
3. Programmatic World Control: How to manipulate a world through a plugin.

ROS Integration

1. Building a ROS-enabled Model Plugin.

CloudSim Tutorials

1. CloudSim tutorials.

DRC Tutorials

1. DRC-specific tutorials

Gazebo Version 1.2

Beginner

• Install: Installation instructions
• Quick Start: How to run Gazebo with a simple environment.
• Components: This page provides and overview of the basic components in a Gazebo simulation.
• Make a model: Describes models, and how to use 3rd part modeling software to create custom models.
• Importing Meshes: How to import 3D meshes into Gazebo for use as visual and collision entities.
• Using the GUI: How to use the graphical interface.

Building a Robot

These tutorials are designed to be completed in order. Each tutorial adds more complexity to the previous tutorial. We recommend proceeding through these tutorials in order.

1. Make a mobile robot: How to make a 2-wheeled mobile robot.
2. Attach meshes: Improve visual appearance by attaching Collada meshes.
3. Add a sensor to a robot: How to add a laser sensor to a robot.
4. Make a simple gripper: Build a simple pinching gripper.
5. Attach Gripper to Robot: Connect the simple gripper to the mobile robot.

Controlling a Robot

These tutorials assume you have accomplished the Building a Robot tutorials

1. Animate Pose: How to animate the pose of a model.
2. Animate Joint: How to animate position of a joint.
3. Control Model: How to control a model.
4. Controlling a mobile robot: How to make an extremely simple dynamic controller for your mobile base.
5. Controlling a mobile robot with its range sensor: How to make an extremely simple dynamic controller using sensor information from your mobile base.
6. Use PID class to control a simple slider joint in gazebo.

Making a World

1. Building a World: How to populate a simulated world with simulated objects.
2. Modifying a World: How to change scene and physics parameters of a world using the GUI.
3. Programmatic World Control: How to manipulate a world through a plugin.

ROS Integration

1. Building a ROS-enabled Model Plugin.

DRC Tutorials

• DRC-specific tutorials

Gazebo Version 1.0

Beginner

• Install: Installation instructions
• Quick Start: How to run Gazebo with a simple environment.
• Components: This page provides and overview of the basic components in a Gazebo simulation.
• Make a model: Describes models, and how to use 3rd part modeling software to create custom models.
• Importing Meshes: How to import 3D meshes into Gazebo for use as visual and collision entities.
• ROS: How to use ROS with Gazebo.
• Player: How to use Player with Gazebo.
• Topics: How to interface to Gazebo using inter-process communication.
• Heightmaps: How to create a terrain using images.

Intermediate

• Animate Pose: How to animate the pose of a model. TODO revert to 1.0
• Animate Joints: How to animate the joints of a model.
• Animated Characters: How to use animated characters.
• Make a simple SCARA arm: How to build a simple arm.
• Use PID class to control a simple slider joint in gazebo: TODO revert to 1.0

Plugins

These tutorials cover the creation and use of plugins to programmatically control world, model, and sensor state.

Plugins

Sensors

How to retrieve data from sensors, add new sensors, and visualize sensors.

Sensors

Can't find what you're looking for? Have a look at the API.

• API documentation [1]