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Maintainer: arjoc AT intrinsic DOT ai

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Ubuntu Noble
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Windows

Gazebo Sim is an open source robotics simulator. Through Gazebo Sim, users have access to high fidelity physics, rendering, and sensor models. Additionally, users and developers have multiple points of entry to simulation including a graphical user interface, plugins, and asynchronous message passing and services.

Gazebo Sim is derived fromGazebo Classic and represents over 16 years of development and experience in robotics and simulation. This library is part of theGazebo project.

Features

Install

Usage

Documentation

Testing

Folder Structure

Contributing

Code of Conduct

Versioning

License

• Dynamics simulation: Access multiple high-performance physics enginesthroughGazebo Physics.

• Advanced 3D graphics: ThroughGazebo Rendering,it's possible to use rendering engines such as OGRE v2 for realistic renderingof environments with high-quality lighting, shadows, and textures.

• Sensors and noise models: Generate sensor data, optionally with noise,from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors,force-torque, IMU, GPS, and more, all powered byGazebo Sensors

• Plugins: Develop custom plugins for robot, sensor, andenvironment control.

• Graphical interface: Create, introspect and interact with your simulationsthrough plugin-based graphical interfaces powered byGazebo GUI.

• Simulation models: Access numerous robots including PR2, Pioneer2 DX,iRobot Create, and TurtleBot, and construct environments using other physicallyaccurate models available throughGazebo Fuel. You can also build anew model usingSDF.

• TCP/IP Transport: Run simulation on remote servers and interface toGazebo Sim through socket-based message passing usingGazebo Transport.

• Command line tools: Extensive command line tools for increased simulationintrospection and control.

For installing Gazebo, see thegetting started guide. If you want to uselibgz-sim as a library, see theinstallation tutorial

Gazebo Sim can be run from the command line, onceinstalled, using:

gz sim

For help, and command line options use:

gz sim -h

In the event that the installation is a mix of Debian and from source, commandline tools fromgz-tools may not work correctly.

A workaround is to define the environment variableGZ_CONFIG_PATH to point to the different locations of the Gazebo libraries installations,where the YAML files for the packages are found, such as

export GZ_CONFIG_PATH=/usr/local/share/gz:$HOME/ws/install/share/gz

where$HOME/ws is an example colcon workspace used to build Gazebo.

On Windows,gz sim (i.e. running both server and GUI in one command) doesn't yet work.To run Gazebo Sim on Windows, you need to run the server in one terminal (gz sim -s <other args>)and the GUI in another terminal (gz sim -g <other args>). Remember this when reading throughall Gazebo Sim tutorials. Also remember that Conda andinstall\setup.bat need to be sourcedin both terminals (as well as any changes toGZ_PARTITION and other environment variables).

See theinstallation tutorial.

See theinstallation tutorial.

See theWriting Tests section of the contributor guide for help creating or modifying tests.

Refer to the following table for information about important directories and files in this repository.

gz-sim├── examples                     Various examples that can be run against binary or source installs of gz-sim.│   ├── plugin                   Example plugins.│   ├── standalone               Example standalone programs that use gz-sim as a library.│   └── worlds                   Example SDF world files.├── include/gz/sim               Header files that downstream users are expected to use.│   └── detail                   Header files that are not intended for downstream use, mainly template implementations.├── python                       Python wrappers├── src                          Source files and unit tests.│   ├── gui                      Graphical interface source code.│   └── systems                  System source code.├── test│   ├── integration              Integration tests.│   ├── performance              Performance tests.│   ├── plugins                  Plugins used in tests.│   ├── regression               Regression tests.├── tutorials                    Tutorials, written in markdown.├── Changelog.md                 Changelog.├── CMakeLists.txt               CMake build script.├── Migration.md                 Migration guide.└── README.md                    This readme.

Please see thecontribution guide.

Please seeCODE_OF_CONDUCT.md.

This library usesSemantic Versioning. Additionally, this library is part of theGazebo project which periodically releases a versioned set of compatible and complimentary libraries. See theGazebo website for version and release information.

This library is licensed underApache 2.0. See also theLICENSE file.