What is Gazebo - Shalitdubey/Gazebo GitHub Wiki

Welcome to the Gazebo wiki!

Gazebo is a multirobot simulator for complex indoor and outdoor robotic simulation. We can simulate complex robots, robot sensors, and a variety of 3D objects. Gazebo already has simulation models of popular robots, sensors, and a variety of 3D objects in their repository. We can directly use these models without having the need to create.

Gazebo has a good interface in ROS, which exposes the whole control of Gazebo in ROS. We can install Gazebo without ROS and we should install the ROS-Gazebo interface to communicate from ROS to Gazebo.

Before starting with Gazebo and ROS, we should install the following packages to work with Gazebo and ROS.

• In ROS Jade: $ sudo apt-get install ros-jade-gazebo-ros-pkgs ros-jade-gazeboros ros-jade-gazebo-msgs ros-jade-gazebo-plugins

• In ROS Indigo: $ sudo apt-get install ros-indigo-gazebo-ros-pkgs ros-indigogazebo- msgs ros-indigo-gazebo-plugins ros-indigo-gazebo-roscontrol

The use of each package is as follows:

• gazebo_ros_pkgs: This contains wrappers and tools for interfacing ROS with Gazebo

• gazebo-msgs: This contains messages and service data structures for interfacing with Gazebo from ROS

• gazebo-plugins: This contains Gazebo plugins for sensors, actuators, and so on.

• gazebo-ros-control: This contains standard controllers to communicate between ROS and Gazebo