Gazebo 0.7.0 / 0.8 Pre 2
Gazebo is a 3D multiple robot simulator with dynamics.
Here are some key features of "Gazebo":
· Simulation of standard robot sensors, including sonar, scanning laser range-finders, GPS and IMU, monocular and stereo cameras.
· Models for commonly used robot types such as the Pioneer2DX, Pioneer2AT and SegwayRMP.
· Realistic simulation of rigid-body physics: robots can push things around, pick things up, and generally interact with the world in a plausible manner.
· Player compatible: robots and sensors can be controlled through standard Player interfaces.
· Stand-alone operation: programs can interact directly with the simulator (i.e., without going through Player) using libgazebo (included in the distribution).
· New Stereo camera model: generates stereo image pairs, disparity and depth maps.
· New Completely re-written GUI using wxPython: most devices can now be directly controlled/inspected through the simulator GUI.
· New Plugin models: users can develop their own robot/sensor models, and have these models loaded dynamically at run time.
· New Skins: simple geometric models may be augmented with realisitc 'skins' from 3D modelling programs.
· Gazebo is free software, released under the GNU Public License. You are free to use, extend and modify Gazebo according to your needs, but we would appreciate it if you would send us your patch.
Stage and Gazebo
The Player/Stage project provides two multi-robot simulators: Stage and Gazebo. Since Stage and Gazebo are both Player-compatible, client programs written using one simulator can usually be run on the other with little or no modification. The key difference between these two simulators is that whereas Stage is designed to simulate a very large robot population with low fidelity, Gazebo is designed to simulated a small population with high fidelity. Thus, the two simulator are complimentary, and users may switch back and forth between them according to their needs.
Read the installation instructions in the online manual for generic instructions. For most people, the following
sequence will suffice:
$ scons install
Read the installation instructions in the online manual for generic instructions. For most people, the following sequence will suffice:
$ scons -c install