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Toggle navigation Tutorials Download Blog Media Projects Settings New user Logout -- Robot simulation made easy. Download (11.0.0) View on GitHub SDFormat : Robot and simulation model format Ignition : Libraries for robot applications Get Started Features Status Why ? Robot simulation is an essential tool in every roboticist's toolbox. A well-designed simulator makes it possible to rapidly test algorithms, design robots, perform regression testing, and train AI system using realistic scenarios. offers the ability to accurately and efficiently simulate populations of robots in complex indoor and outdoor environments. At your fingertips is a robust physics engine, high-quality graphics, and convenient programmatic and graphical interfaces. Best of all, is free with a vibrant community. The Latest " alt="rsslogo" height="20"/ -- 11.0.0 release 2019-01-30 Download (11.0.0) Changelog | Migration Guide Release Highlights SDFormat 1.7 frame semantics, see the ROSCon 2019 talk Support for BVH skeletal animations Slow motion / sped up log playback Tracked vehicles with flippers Dynamic bias noise for sensors STLB mesh support and improved SVG parsing Spherical sonar Bumped Ignition dependencies to match Ignition Citadel : Ignition Cmake 2 Ignition Common 3 Ignition Fuel Tools 4 Ignition Math 6 Ignition Msgs 5 Ignition Transport 8 SDFormat 9 We are proud to announce the release of 11. This version of has long term support with an end-of-life on January 29, 2025. We've also released new minor versions for 9 and 10: 9.12.0 changelog 10.2.0 changelog The first stable release of came out on October 2012. Now, almost 8 years and 10 major releases later, 11 marks the end of major releases from the osrf/gazebo codebase. All released versions will be supported until their end of life, receiving backwards-compatible features and bug fixes. We'd like to thank external developers who have contributed to over the past year: Silvio Traversaro Martin Pecka Mingfei Sun Sean Yen Jennifer Buehler Olivier Crave Víctor López Tan Benjamin Wei Xu Timo K Eric Timmons Stephen Just Jonathan Noyola Thomas Hines Terry Welsh Carlos Miguel Correia da Costa Yedhin Kizhakkethara Samuel Lekieffre Migration to Ignition Moving forward, the simulation team at Open Robotics will be focusing on the development of the Ignition simulation framework. Not all features available on 11 have been ported to Ignition yet. Likewise, Ignition offers new features which are not available on 11. You can see the feature comparison between Ignition Citadel and 11 here . Both and Ignition use SDFormat as the world description format. Therefore, worlds and models that work on can be easily ported to Ignition. Ignition supports different plugin types from -classic. Check out this tutorial for a review of plugin types and an example on how to port a plugin from . Improved migration guides and APIs to help the transition from to Ignition will be coming up over the next few months. Development Team Useful Links Answers Find answers and ask questions. Community Join for discussions and announcements. Simulation Models Robots, objects, and other simulation models. Source code Get 's source code. Top Features Dynamics Simulation Access multiple high-performance physics engines including ODE , Bullet , Simbody , and DART . Advanced 3D Graphics Utilizing OGRE , provides realistic rendering of environments including high-quality lighting, shadows, and textures. Sensors and Noise Generate sensor data, optionally with noise, from laser range finders, 2D/3D cameras, Kinect style sensors, contact sensors, force-torque, and more. Plugins Develop custom plugins for robot, sensor, and environmental control. Plugins provide direct access to 's API . Robot Models Many robots are provided including PR2, Pioneer2 DX, iRobot Create, and TurtleBot. Or build your own using SDF . TCP/IP Transport Run simulation on remote servers, and interface to through socket-based message passing using Google Protobufs . Cloud Simulation Use CloudSim to run on Amazon AWS and GzWeb to interact with the simulation through a browser. Command Line Tools Extensive command line tools facilitate simulation introspection and control. Top Get Started Get your feet wet Quick Start A simple set of steps to get up and running rapidly. GUI Hotkeys Description of 's hotkeys and mouse interactions. Tutorials The best way to start using is to run through the tutorials . These tutorials cover both basic and simple concepts through a series of exercises. Examples Check out the example worlds and programs that are in the source code. answers.gazebosim.org If you can't find what you are looking for, try our askbot help forum located at answers.gazebosim.org . community.gazebosim.org Want to exchange ideas with the rest of the community? Come to community.gazebosim.org . Information Sources Overview A high-level description of and its various components. API Doxygen generated documentation for the libraries. Protobuf Messages A complete list of all the protobuf messages used by SDFormat Specification SDFormat is an XML file format that defines environments and models. This specification defines all the XML elements for describing world and models. Top Project Status Release Schedule and Roadmap 11 is the last major release of . All currently supported versions are still being maintained and may receive new backwards-compatible features and bug fixes until their end-of-life. is being refactored into the new Ignition simulator. Check out Ignition Robotics to learn all about it. Refer documentation in downstream applications, such as ROS, for version compatiblilty. 1.9 2013-07-24 EOL 2015-07-27 Split out SDFormat into a separate package Improved ROS support Added Sonar, Force-torque, and pressure sensors Allow user camera to follow objects Basic OS X support 2.2 2013-11-07 EOL 2016-01-25 Ubuntu P,Q,R,S Improved shadow maps Breakable walls Visualize moment of inertia Graphically resize simple shapes Wireless transceiver sensor models OpenAL audio support Terrain paging 3.0 2014-04-11 EOL 2015-07-27 Ubuntu P,R,S,T Unified command line tool Lightmaps for improved rendering realism Destructable simple shapes Import DEM Split in Debian packages, moving to Debian inclusion of Beta OSX support Bullet support 4.0 2014-07-28 EOL 2016-01-25 Ubuntu P,S,T Vehicle suspension models More tutorials and documentation Oculus Rift support Razer Hydra support Copy and paste models via GUI Custom road textures Support DART 4.1 New extruded polyline geometry Fixed actor animations Added KMeans class 5.0 2015-01-26 EOL 2017-01-25 Ubuntu T,U,V C++11 integration GUI overlay support Clone running simulations Improved building editor Javascript interface 6.0 2015-07-27 EOL 2017-01-25 Ubuntu T,U,V Windows support, when compiling from source Support for Oculus 2 Hydrodynamics plugin Improved aerodynamics plugin Multiple physics profiles per world Apply forces and torques via the GUI Import shapes by extruding SVG files Collision bitmask support in SDF Elevator and teleport plugins Actuator plugin that enforces torque limit based on joint velocity 7.1 2016-01-25 EOL 2021-01-25 Ubuntu T,V,W,X Nested models Ignition Math integration Improve documentation for first time users Improved log recording and playback GUI design tools such as cut/copy/paste, and undo Wide angle camera sensor Torsional friction Battery class and plugin. 8.2 2017-12-10 EOL 2019-01-25 Ubuntu X,Y GUI plotting utility and system instrospection GUI model editor Generalization of Actor animations QT 5 support Import OBJ files Support for Wind Quadcopter simulation Built-in video recording 9.0 2018-01-25 EOL 2023-01-25 Ubuntu X,A,B Debian St Gravity compensation plugin DART 6 integration with closed kinematic loops Integration with Ignition Fuel Joystick plugin Parallel threaded islands in ODE Improved shadows Camera lens flare Attach lights to links 10.0 2019-01-24 EOL 2021-01-24 Ubuntu X,B Check out the Changelog . 11.0 2020-01-30 EO...