Acropolis has reached end-of-life on September 2019. This page exists for archival purposes. Please refer to the latest supported version.
Feature comparison#
A list of features present in Gazebo-classic and the status of their migration to Gazebo.
Sensors#
Sensor |
Gazebo-classic |
Gazebo Sim |
|---|---|---|
Altimeter |
✓ |
✓ |
Camera |
✓ |
✓ |
Contact sensor |
✓ |
✓ |
Depth camera |
✓ |
✓ |
Force-torque |
✓ |
|
GPS |
✓ |
|
GPU Ray |
✓ |
✓ Renamed to GPU Lidar |
IMU |
✓ |
✓ |
Logical camera |
✓ |
✓ |
Magnetometer |
✓ |
✓ |
Multi-camera |
✓ |
|
Ray |
✓ |
|
RFID |
✓ |
|
RFIDTag |
✓ |
|
Sonar |
✓ |
|
Wide-angle camera |
✓ |
|
Wireless receiver |
✓ |
|
Wireless transceiver |
✓ |
|
Wireless transmitter |
✓ |
Sensor features |
Gazebo-classic |
Gazebo Sim |
|---|---|---|
Custom update rate |
✓ |
Some sensors do, others need upgrading |
Gaussian noise |
✓ |
Some sensors do, others need upgrading |
Custom sensors |
✓ |
✓ |
Plugins#
Plugin |
Gazebo-classic |
Gazebo Sim |
|---|---|---|
ActorPlugin |
✓ |
|
ActuatorPlugin |
✓ |
|
AmbientOcclusionVisualPlugin |
✓ |
|
ArduCopterPlugin |
✓ |
|
ArrangePlugin |
✓ |
|
AttachLightPlugin |
✓ |
✕ Does not apply, use SDF |
BlinkVisualPlugin |
✓ |
|
BreakableJointPlugin |
✓ |
|
BuoyancyPlugin |
✓ |
|
CameraPlugin |
✓ |
|
CartDemoPlugin |
✓ |
|
CessnaPlugin |
✓ |
|
ContactPlugin |
✓ |
|
ContainPlugin |
✓ |
|
DepthCameraPlugin |
✓ |
|
DiffDrivePlugin |
✓ |
✓ |
FiducialCameraPlugin |
✓ |
|
FlashLightPlugin |
✓ |
|
FollowerPlugin |
✓ |
|
ForceTorquePlugin |
✓ |
|
GimbalSmall2dPlugin |
✓ |
|
GpuRayPlugin |
✓ |
|
HarnessPlugin |
✓ |
|
HeightmapLODPlugin |
✓ |
|
ImuSensorPlugin |
✓ |
|
InitialVelocityPlugin |
✓ |
|
JointControlPlugin |
✓ |
|
JointTrajectoryPlugin |
✓ |
|
KeysToJointsPlugin |
✓ |
|
LedPlugin |
✓ |
|
LensFlareSensorPlugin |
✓ |
|
LiftDragPlugin |
✓ |
|
LinearBatteryConsumerPlugin |
✓ |
|
LinearBatteryPlugin |
✓ |
|
LinkPlot3DPlugin |
✓ |
|
ModelPropShop |
✓ |
|
MudPlugin |
✓ |
|
PlaneDemoPlugin |
✓ |
|
PressurePlugin |
✓ |
|
RayPlugin |
✓ |
|
RaySensorNoisePlugin |
✓ |
|
RubblePlugin |
✓ |
|
ShaderParamVisualPlugin |
✓ |
|
SkidSteerDrivePlugin |
✓ |
|
SonarPlugin |
✓ |
|
SphereAtlasDemoPlugin |
✓ |
|
StaticMapPlugin |
✓ |
|
StopWorldPlugin |
✓ |
|
TouchPlugin |
✓ |
✓ |
VehiclePlugin |
✓ |
|
WheelSlipPlugin |
✓ |
|
WindPlugin |
✓ |
|
ElevatorPlugin |
✓ |
|
RandomVelocityPlugin |
✓ |
|
TransporterPlugin |
✓ |
|
HydraPlugin |
✓ |
|
HydraDemoPlugin |
✓ |
|
JoyPlugin |
✓ |
✓ Migrated as standalone program |
CessnaGUIPlugin |
✓ |
|
KeyboardGUIPlugin |
✓ |
|
LookAtDemoPlugin |
✓ |
|
TimerGUIPlugin |
✓ |
|
GravityCompensationPlugin |
✓ |
GUI#
Feature |
Gazebo-classic |
Gazebo Sim |
|---|---|---|
Play / pause / step |
✓ |
✓ |
Reset world / models |
✓ |
|
World stats |
✓ |
✓ |
Topic echo |
✓ |
✓ |
Image viewer |
✓ |
✓ |
Translate / rotate |
✓ |
|
Scale models |
✓ |
|
Insert models / lights |
✓ |
|
Delete models |
✓ |
|
World tree |
✓ |
|
Log recording / playback |
✓ |
|
Plotting |
✓ |
|
Video recording |
✓ |
|
Screenshot |
✓ |
|
View angles |
✓ |
|
Apply force / torque |
✓ |
|
Introspection visualizations (transparent, joints…) |
✓ |
|
Follow / move to |
✓ |
|
Copy / paste |
✓ |
|
Building editor |
✓ |
|
Model editor |
✓ |
|
FPS view control |
✓ |
|
Orthographic projection |
✓ |
|
Save world |
✓ |
|
Save GUI configuration |
✓ |
✓ |
Color scheme and themes |
✕ |
✓ |
Position, resize and configure widgets |
✕ |
✓ |
Physics#
In Gazebo Physics, physics engines are integrated as plugins, so any engine can be integrated without changing the core source code, as it was the case in Gazebo.
Feature |
Gazebo-classic |
Gazebo Sim |
|---|---|---|
ODE engine |
✓ |
|
Bullet engine |
✓ |
|
DART engine |
✓ |
✓ Plugin shipped with gz-physics |
Simbody engine |
✓ |
|
Custom engine plugins |
✕ |
✓ |
Rendering#
In Gazebo Rendering, render engines are integrated as plugins, so any engine can be integrated without changing the core source code.
Feature |
Gazebo-classic |
Gazebo Sim |
|---|---|---|
Ogre 1.x engine |
✓ |
✓ |
Ogre 2.x engine |
✕ |
✓ |
Optix engine |
✕ |
✓ Partial support |
Custom engine plugins |
✕ |
✓ |
Sky |
✓ |
|
Fog |
✓ |
ROS integration#
ROS integration with Gazebo will be done primarily via a transport bridge instead of plugins, contained in the ros_gz package.
ROS 1: See full message list at ros_gz
ROS 2: Available from Blueprint
Others#
Feature |
Gazebo-classic |
Gazebo Sim |
|---|---|---|
Nested models |
✓ |
Partial support |
Log / playback |
✓ |
Partial support |
Web client (GzWeb) |
✓ |
|
Populations |
✓ |
|
Actors |
✓ |
|
Markers |
✓ |
|
Heightmaps |
✓ |
|
DEM (Digital Elevation Models) |
✓ |
|
COLLADA meshes |
✓ |
✓ |
OBJ meshes |
✓ |
✓ |
STL meshes |
✓ |
✓ |
Polylines |
✓ |
|
Code introspection |
✓ |
All simulation state is accessible from any system plugin, soon it will be published |
World plugins |
✓ |
✓ Now called System plugin |
Model plugins |
✓ |
✓ Now called System plugin |
Sensor plugins |
✓ |
|
Visual plugins |
✓ |
|
GUI plugins |
✓ |
✓ Gazebo GUI plugins |
System plugins |
✓ |
|
Distribute simulation across processes |
✕ |
(coming up) |
Incrementally load levels |
✕ |
✓ |
Online model database |
||
SDF frame semantics |
||
Saved simulation states |
✓ |