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.

Browse all tutorials

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: DRCSim

DARPA Robotics Challenge specific tutorials.

All categories

DRC Simulator installation
Explains how to install the DRC Simulator.
Launchfile options
A guide to launching DRCSim with different Atlas versions...
Spawn Atlas into a custom world
How to spawn Atlas into your own custom world.
Animate joints
How to move a robot in simulation without dynamics throug...
Atlas Keyboard Teleoperation over ROS
DRCSim provides an interface to the Atlas Sim Interface a...
Teleoperate atlas with a music mixer
How to use a music mixer, to teleoperate the Atlas model.
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 use the Atlas Sim Interface
How to use the Atlas Sim Interface to command Atlas to wa...
Atlas fake walking
How to drive a simulated Atlas as if it were a wheeled ro...
Grasp with Sandia hands
How to send desired grasp pose to Sandia hands mounted on...
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'...
Sending joint commands with ROS
How to send joint positions to a robot in simulation thro...
Atlas control over ROS with python
How to control the Atlas robot with a python joint trajec...
Modify environment
How to modify the simulated Atlas' environment, such as a...
Atlas switching control modes
How to use the BDI-provided behavior library to control t...
Atlas Controller Synchronization over...
How to setup synchronized controller updates over ROS top...
Changing Viscous Damping Coefficients...
Changing Atlas and Sandia Hand Joint Viscous Damping Coef...
Running BDI controller demo
How to start the 5-step behavior demo implemented in the ...
Using the RobotiQ 3-Finger Adaptive R...
How to grasp and view the state while using the 3-Finger ...
BDI Atlas Robot Interface 3.0.0 Stand...
A guide to compiling a stand-in for the AtlasRobotInterfa...