Gazebo Simulator

Overview

Gazebo is a robot simulation environment integrated with ROS/ROS2.

Installation

# ROS2 Humble
sudo apt install ros-humble-gazebo-ros-pkgs

Creating a Robot Model

<sdf version="1.6">
  <model name="my_robot">
    <link name="base_link">
      <collision>
        <geometry>
          <cylinder>
            <radius>0.5</radius>
            <length>0.1</length>
          </cylinder>
        </geometry>
      </collision>
    </link>
  </model>
</sdf>

Spawning in ROS2

from gazebo_msgs.srv import SpawnEntity
# Spawn robot from URDF/Xacro

Best Practices

• Use SDF for world modeling
• Optimize collision geometry
• Use proper physics parameters

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