WARNING: This documentation is for Gazebo-classic, which has been superseded by Gazebo. Click here to see the documentation for the latest Gazebo release

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Beginner: Overview

Overview and installation instructions

Introduction to the graphical interface.

Beginner: Model Editor

How to make or edit a model.

Intermediate: Velodyne

How to construct a Velodyne model.

Intermediate: Model Appearance

How to add meshes to a model to improve visual appearance.

Intermediate: Sensor Noise

How to add noise to a sensor.

Intermediate: Upload Velodyne Model

How to upload a model to the model database.

Intermediate: Control plugin

How to control a sensor using a plugin.

Intermediate: Connect to ROS

How to control a plugin using ROS.

Advanced: Where is the code?

Introduction to the series and basic concepts

Advanced: Run your own copy of Gazebo

Get the code and build Gazebo from source

Advanced: Workflow

Get familiar with the source code and toolchain

Advanced: Code quality

Testing, style, warnings and documentation

Advanced: Code review

Choose a bug, fix it, and get your patch into Gazebo!

Installation instructions for Ubuntu using packages (amd6...

Debian, Fedora, Arch or Gentoo

Installation instructions for major linux distributions...

Installation instructions for Mac installations using hom...

Installation instructions for Windows.

Unstable packages: prerelease and nig...

How to install and uninstall the unstable Ubuntu...

From source (Ubuntu and Mac)

Installation instructions for building a gazebo a...

Dependencies from source

Install some dependencies from source, such as SDFormat a...

Simple and fast introduction to Gazebo.

Overview of Gazebo plugins.

Manipulate a model using a model plugin.

Inserting models using a world plugin.

Programmatic World Control

Modify world properties, such as ambient color and the ph...

Make a Mobile Robot

How to make a 2-wheeled mobile robot

How to import 3D meshes into Gazebo for use as visual and...

Improve model visual appearance by attaching Collada meshes

Add a Sensor to a Robot

How to add a laser sensor to a robot

Make a Simple Gripper

Build a simple pinching gripper

Attach Gripper to Robot

Connect the simple gripper to the mobile robot

Model a 4-bar linkage in SDFormat and...

Model a 4-bar linkage in SDFormat and URDF.

Describes models, and how to create custom models.

Make an animated model (actor)

Describes how to create animated skeletons and scripted t...

Model structure and requirements

Describes how Gazebo finds and load models, and requireme...

How to contribute a model

Describes how add a new model to the Gazebo model database.

Describes how to create an assembly of models.

Sensor Noise Model

How to add noise to sensors

Camera Distortion

How to add distortion to cameras.

Wide-Angle Camera

How to create and setup wide-angle cameras.

Create a Video with a Camera

Shows how to create a video from a camera in the world.

Building a world

How to populate a simulated world with simulated objects.

Modifying a world

How to change scene and physics parameters of a world usi...

How to set the random number seed.

Topics subscription

How to subscribe to gazebo topics.

Topics on the commandline with gz topic

How to introspect and publish on gazebo-transport topics ...

Custom messages

How to create custom messages

How to setup friction properties.

Torsional friction

How to setup torsional friction properties.

Physics Parameters

How to tune the physics parameters.

Collide bitmask

Learn how to control which geometries collide or do not c...

Fluid simulation on the GPU using Fluidix library.

Simulate aerodynamic robots and vehicles with the LiftDra...

Simulate self-propelling underwater submarines using lift...

Logging and playback

Record and playback your simulation, via the GUI or comma...

Code introspection

Introspect Gazebo and your plugins

How to filter a recorded state log file.

Applying Force/Torque

Use the graphical interface to apply force and torque to ...

Instrument HDF5 Datasets

How to dump simulation data into HDF5 format for benchmark.

Gazebo Components

Overview of the basic components in a Gazebo simulation.

Gazebo Architecture

Overview of Gazebo's code structure.

Population of models

Automatically create a collection of identical models.

Building Editor

Create multi-level buildings without having to write code.

Create and edit models within a model editor.

Extrude SVG files

Extrude 2D SVG files into 3D meshes to create robots.

Gzweb installation

Explains how to install and run the WebGL client for Gazebo.

Gzweb development

How to make changes to Gzweb and contribute your modifica...

Color And Texture Models

How to add color and textures to a model.

How to create and use elevators.

How to use ContainPlugin to trigger events.

Flashlight Plugin

How to use FlashLightPlugin to blink lights on a model.

How to use LedPlugin to blink lights on a model.

Use the SimEvents plugin to send messages when a joint st...

Use the OccupiedEvent plugin to send messages when a 3D r...

Force/Torque Sensor

How to create and get data from force/torque sensors.

Logical Camera Sensor

How to create and get data from logical camera sensors.

How to create and get data from contact sensors.

Random Velocity Plugin

Use this for random walks of any link.

Overview of ROS integration.

Overview of ROS 2 integration.

Using actuators, controllers, and ros_control with Gazebo.

ROS communication

ROS communication with Gazebo.

ROS Depth Camera Integration

Connect a Gazebo depth camera to ROS.

Create ROS for Gazebo.

Installing gazebo_ros_pkgs (ROS 1)

Installing gazebo_ros_pkgs for ROS 1.

Installing gazebo_ros_pkgs (ROS 2)

Installing gazebo_ros_pkgs for ROS 2.

Using roslaunch

Using roslaunch to start Gazebo, world files and URDF mod...

Using a URDF in Gazebo

Gazebo plugins in ROS

Using Gazebo plugins with ROS

Animate the pose of box.

Inertial parameters of triangle meshes

Identify reasonable inertial parameters for a model compo...

Manage physics profiles

Use the Preset Manager interface to store and switch betw...

Parallel physics

Take advantage of improved physics performance with two d...

Used to perform application-wide performance profiling.

Performance metrics

Track simulation and sensor performance through a transpo...

Visual Lightmap

How to apply lightmaps to a model visual.

Using the Razer Hydra

Describes the process of making a system plugin that is l...

Which combination of ROS/Gazebo versi...

Details the reasons to pick an specific ROS or Gazebo ver...

Using the RobotiQ 3-Finger Adaptive R...

How to grasp and view the state while using the 3-Finger ...

Visibility layers

Assign layers to visuals and toggle their visibility in t...

Gravity compensation

Use gravity compensation to complement PID position contr...

Ground plane model with satellite images

How to insert a satellte image textured ground plane from...

Lockstep of physics and sensors

How to enable lockstep synchronization between physics an...

Digital Elevation Models

How to use DEMs in Gazebo.

Using the Oculus Rift VR headset

Setup Gazebo to generate a stereo images suitable for use...

Advanced ROS Integration

Miscellaneous Gazebo-ROS tricks and tips.

Add/Modify Tutorials

How to add or modify tutorials.

Contribute Code

How to create new code for inclusion into Gazebo.

Development process

Description of the Gazebo development process.

Capture screenshot

Shows how to capture a screen shot of Gazebo's render win...

Player Position

Covers connecting the position2d Player interface to Gazebo.

Covers connecting the laser Player interface to Gazebo.

Covers connecting the camera Player interface to Gazebo.

Clone a simulation

This tutorial describes how to clone the current simulation.

BDI Atlas Robot Interface 3.0.0 Stand...

A guide to compiling a stand-in for the AtlasRobotInterfa...

Launchfile options

A guide to launching DRCSim with different Atlas versions...

Atlas fake walking

How to drive a simulated Atlas as if it were a wheeled ro...

Spawn Atlas into a custom world

How to spawn Atlas into your own custom world.

Modify environment

How to modify the simulated Atlas' environment, such as a...

DRC Simulator installation

Explains how to install the DRC Simulator.

Visualization and logging

How to visualize and log sensor data.

Atlas MultiSense SL head

How to visualize data streams from the simulated Atlas ro...

How to move a robot in simulation without dynamics throug...

Grasp with Sandia hands

How to send desired grasp pose to Sandia hands mounted on...

Atlas Keyboard Teleoperation over ROS

DRCSim provides an interface to the Atlas Sim Interface a...

Atlas switching control modes

How to use the BDI-provided behavior library to control t...

How to use the Atlas Sim Interface

How to use the Atlas Sim Interface to command Atlas to wa...

Atlas Controller Synchronization over...

How to setup synchronized controller updates over ROS top...

Atlas control over ROS with python

How to control the Atlas robot with a python joint trajec...

Sending joint commands with ROS

How to send joint positions to a robot in simulation thro...

DRC vehicle tele-operation

How to control the DRC Vehicle using ROS topics provided ...

DRC vehicle tele-operation with Atlas

How to automatically place the Atlas robot in the driver'...

Changing Viscous Damping Coefficients...

Changing Atlas and Sandia Hand Joint Viscous Damping Coef...

Teleoperate atlas with a music mixer

How to use a music mixer, to teleoperate the Atlas model.

Running BDI controller demo

How to start the 5-step behavior demo implemented in the ...

This tutorial describes how to create custom GUI interfac...

Setting Velocity on Joints and Links

This tutorial describes how to programatically set veloc...

GazeboJs installation

Explains how to install the javascript NodeJs bindings to...

GazeboJs installation on Mac

Explains how to install the javascript NodeJs bindings to...

GazeboJs publish and subscribe

Explains how to write publishers and subscribers for Gaze...

GazeboJs camera topics

Explains how to save images from Gazebo camera topics.

GazeboJs models

Explains how to access the sdf and to get other informati...

GazeboJs hydra publisher

Hydra publisher using node-sixense and GazeboJs

HAPTIX environment setup

Instructions for the hardware installation and de...

This tutorial describes how to use the C API, defined at...

HAPTIX software install and update

This tutorial describes how to install...

HAPTIX Matlab and Octave API

This tutorial describes how to use the...

HAPTIX Simulation World API

This tutorial describes how to use the World API to manip...

HAPTIX Tactor Glove

This tutorial describes how to craft a DIY tactor glove f...

HAPTIX Teleoperation

This tutorial describes how to control arm position and g...

HAPTIX Optitrack Control

How to configure the...

HAPTIX Simulation World API with Cust...

This tutorial describes how to use the World API to manip...

This tutorial describes how to use the World API and ...

HAPTIX DEKA Luke hand installation

This tutorial describes how to install the DEKA Luke ...

HAPTIX Simulation Scoring Plugin Example

This tutorial describes how to use the Gazebo SimEvents p...