Revision as of 10:32, 22 July 2024

Introduction

Gazebo is a 3D simulator designed to accurately and efficiently simulate robots in complex indoor and outdoor environments. Unlike typical game engines, Gazebo offers high-fidelity physics simulation, a variety of sensors, and user-friendly interfaces for both users and programs. It can fully integrate with ROS (Robot Operating System) using the gazebo_ros package, allowing you to control simulated robots with ROS messages and services.

Typical uses of Gazebo include:

• Testing robotics algorithms
• Designing robots
• Performing regression testing with realistic scenarios

Key features of Gazebo:

• Multiple physics engines
• A rich library of robot models and environments
• A wide variety of sensors
• Convenient programmatic and graphical interfaces

Install

First install some necessary tools:

sudo apt-get update
sudo apt-get install lsb-release curl gnupg

Then install Gazebo (It is recommended to install the appropriate version, please refer to gazebosim):

sudo curl https://packages.osrfoundation.org/gazebo.gpg --output /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
sudo apt-get update
sudo apt-get install gz-garden

How to Run

Run gazebo

gz sim

Choose the world you want to execute.

Download worlds and models

We can download some worlds and models in https://app.gazebosim.org/fuel/worlds.