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: Build a Robot

The following tutorials describe how to build and modify a robot. Included are examples of building a wheeled robot, attaching sensors, attaching actuators, and animating a model.

All categories

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.
Make a model
Describes models, and how to create custom models.
Make a Mobile Robot
How to make a 2-wheeled mobile robot
Import Meshes
How to import 3D meshes into Gazebo for use as visual and...
Attach Meshes
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
Nested model
Describes how to create an assembly of models.
Model Editor
Create and edit models within a model editor.
Animated Box
Animate the pose of box.
Make an animated model (actor)
Describes how to create animated skeletons and scripted t...
Inertial parameters of triangle meshes
Identify reasonable inertial parameters for a model compo...
Visibility layers
Assign layers to visuals and toggle their visibility in t...