Courses / fundamentals

Gazebo Sim

beginner~12 hours10 lessonsEnvironment: docker

Prerequisites: ros2-urdf

Start: Modern Gazebo (gz-sim) vs Gazebo ClassicPractice questions

Modules

Module 1 — Gazebo fundamentals
  1. 1Modern Gazebo (gz-sim) vs Gazebo Classic
  2. 2Worlds, models, and SDF
  3. 3The Gazebo GUI
Module 2 — Your robot in simulation
  1. 1Spawning a URDF robot
  2. 2The ros_gz bridge
  3. 3Driving with diff-drive plugin
Module 3 — Simulated sensors
  1. 1Lidar simulation
  2. 2Camera simulation
  3. 3IMU and odometry
  4. 4Project: teleop your robot through an obstacle world

Textbooks

Video resources

  • Simulating with Gazebo — Articulated Robotics