Introduction to Gazebo Sim
We have already discussed the importance of robotic simulation in robot development. When considering robot simulators, we have multiple options available. Some of the popular choices are Gazebo [1], Webots [2], Isaac Sim [3], Coppelia Sim [4], PyBullet [5], MujoCo [6], Unity [7], and Player/Stage [8].
Why do we focus on Gazebo Sim in this chapter? The main reasons are that it is quite popular, has a strong community, is compatible with most PC configurations, features an excellent ROS 2 interface, and offers good tutorials. It has decent physics and rendering features, but not superior to other simulators. Moreover, it is free and open source.
Let’s dive into Gazebo and explore how to create engaging simulations using it.
The Gazebo project provides a free and open-source robot simulator, development libraries, and cloud services to simplify simulation. There are two main versions of the Gazebo simulator: Gazebo Classic [9] and Gazebo...