Gazebo Tutorials

Gazebo tutorials are organized into Guided and Categorized. Documentation is also available for the API, and a help forum is located at Gazebo Answers.

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Guided

A curriculum-style set of tutorials, recommended for people new to Gazebo.

Beginner
First-time Gazebo users

  1. Overview and Installation
  2. Understanding the GUI
  3. Model Editor
Bonus material
  1. Building with custom SVG
  2. Building Editor
  3. Logging and Playback

Intermediate
Customize simulation

  1. Construct a Velodyne LiDAR
  2. Model appearance
  3. Sensor Noise
  4. Upload Velodyne model
  5. Control plugin
  6. Connect to ROS

Advanced
Contribute to Gazebo.

  1. Where is the code?
  2. Run your own copy of Gazebo
  3. Workflow
  4. Code quality
  5. Code review

Category: Write a plugin

Plugins allow you to control models, sensors, world properties, and even the way Gazebo runs. The following tutorials describe how to create and load plugins for various purposes.

All categories

Plugins 101
Overview of Gazebo plugins.
Model plugins
Manipulate a model using a model plugin.
World plugins
Inserting models using a world plugin.
Programmatic World Control
Modify world properties, such as ambient color and the ph...
System Plugin
Describes the process of making a system plugin that is l...