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: Tools and utilities

Gazebo ships with many tools and utilities. These tutorials describe the available tools, and how they are used.

All categories

Logging and playback
Record and playback your simulation, via the GUI or comma...
Log filtering
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.
Code introspection
Introspect Gazebo and your plugins
Profiler
Used to perform application-wide performance profiling.
Performance metrics
Track simulation and sensor performance through a transpo...