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: Sensors

A simulated sensor analyzes the environment and produces a data stream that closely matches the sensor's physical counterpart. These tutorials describe how to use and modify sensors.

All categories

Sensor Noise Model
How to add noise to sensors
Contact Sensor
How to create and get data from contact sensors.
Camera Distortion
How to add distortion to cameras.
Create a Video with a Camera
Shows how to create a video from a camera in the world.
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.
Lockstep of physics and sensors
How to enable lockstep synchronization between physics an...