Introduction to Gazebo - fontysrobotics/ARMinor-2020-Opensource-Virtual-Learning-Environment-AROVLE GitHub Wiki

Gazebo is a 3D robot simulation tool. It is similar to other simulation suites such as Unity, but includes high fidelity physics simulation, and easily integratable sensors and interfaces. This makes it very well-suited to be used as a simulator with ROS. In Gazebo, robot models are defined in the Unified Robot Description Format (URDF). This is an XML format in which robots can be described. In these tutorials, we will be using Gazebo to simulate our robot and its environment. Using Gazebo, we can also simulate the sensors on our robot, and the data they would produce. This allows us to test our mapping and navigation with simulated inputs. We will look at how to create our own robot description package with a URDF, how to load it into Gazebo, and how to use Gazebo plugins to simulate the sensors we want to use.