p,Glass,and,Protector,Lens,Tempered,4,with,Screen,catiamassaro.it,$4,/girding390821.html,Electronics , Camera Photo,2,Pack,LARRITS p,Glass,and,Protector,Lens,Tempered,4,with,Screen,catiamassaro.it,$4,/girding390821.html,Electronics , Camera Photo,2,Pack,LARRITS LARRITS 2 Pack Tempered Glass New mail order Screen 4 Lens with Protector and p LARRITS 2 Pack Tempered Glass New mail order Screen 4 Lens with Protector and p $4 LARRITS 2 Pack Tempered Glass Screen and Lens Protector with 4 p Electronics Camera Photo $4 LARRITS 2 Pack Tempered Glass Screen and Lens Protector with 4 p Electronics Camera Photo

LARRITS Outlet sale feature 2 Pack Tempered Glass New mail order Screen 4 Lens with Protector and p

LARRITS 2 Pack Tempered Glass Screen and Lens Protector with 4 p


LARRITS 2 Pack Tempered Glass Screen and Lens Protector with 4 p

Product description

LARRITS 2 Set Tempered glass screen and lens protector is made from durable tempered glass with high transmittance, these protectors feature anti-scratch, drop-resistance,anti-fingerprint and anti-reflective coatings. 0.3mm thickness is designed for sensitive touch and compact installation. Also the 2.5D roud edge makes NO AIR BUBBLES. The front screen proctor (PET) is thicker than others and also easy to be attached on camera. Package include: 2 Pcs Tempered glass screen protector+ 2 Pcs tempered glass lens screen protector + 4 pcs PET info screen protector film + 2 pcs Alcohol cotton, 2 pcs Dust absorber,

Product description

LARRITS 2 Set Tempered glass screen and lens protector is made from durable tempered glass with high transmittance, these protectors feature anti-scratch, drop-resistance,anti-fingerprint and anti-reflective coatings. 0.3mm thickness is designed for sensitive touch and compact installation. Also the 2.5D roud edge makes NO AIR BUBBLES. The front screen proctor (PET) is thicker than others and also easy to be attached on camera. Package include: 2 Pcs Tempered glass screen protector+ 2 Pcs tempered glass lens screen protector + 4 pcs PET info screen protector film + 2 pcs Alcohol cotton, 2 pcs Dust absorber,

LARRITS 2 Pack Tempered Glass Screen and Lens Protector with 4 p

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. Gazebo 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, Gazebo is free with a vibrant community.

Anatolian Old Look Cabin Jigsaw Puzzle (2000 Piece)

Gazebo 11.0.0 release


Download (11.0.0)

Changelog | Burton Women's Hearth Snap-Up Fleece

Release Highlights

We are proud to announce the release of Gazebo 11. This version of Gazebo has long term support with an end-of-life on January 29, 2025.

We've also released new minor versions for Gazebo 9 and 10:

The first stable release of Gazebo came out on October 2012. Now, almost 8 years and 10 major releases later, Gazebo 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 Gazebo 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 Gazebo 11 have been ported to Ignition yet. Likewise, Ignition offers new features which are not available on Gazebo 11. You can see the feature comparison between Ignition Citadel and Gazebo 11 here.

Both Gazebo and Ignition use SDFormat as the world description format. Therefore, worlds and models that work on Gazebo can be easily ported to Ignition.

Ignition Gazebo supports different plugin types from Gazebo-classic. Check out this tutorial for a review of plugin types and an example on how to port a plugin from Gazebo.

Improved migration guides and APIs to help the transition from Gazebo to Ignition will be coming up over the next few months.

  Gazebo Development Team

Dynamics Simulation

Access multiple high-performance physics engines including ODE, Bullet, Simbody, and DART.

Advanced 3D Graphics

Utilizing OGRE, Gazebo 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.


Develop custom plugins for robot, sensor, and environmental control. Plugins provide direct access to Gazebo'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 Gazebo through socket-based message passing using Google Protobufs.

Cloud Simulation

Use CloudSim to run Gazebo 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.

Get your feet wet

  1. Quick Start

    A simple set of steps to get Gazebo up and running rapidly.

  2. GUI Hotkeys

    Description of Gazebo's hotkeys and mouse interactions.

  3. Tutorials

    The best way to start using Gazebo is to run through the tutorials. These tutorials cover both basic and simple concepts through a series of exercises.

  4. Examples

    Check out the example worlds and programs that are in the source code.

  5. answers.gazebosim.org

    If you can't find what you are looking for, try our askbot help forum located at answers.gazebosim.org.

  6. community.gazebosim.org

    Want to exchange ideas with the rest of the community? Come to community.gazebosim.org.

Information Sources

  1. Gazebo Overview

    A high-level description of Gazebo and its various components.

  2. Disney Minnie Mouse Jewelry Box Bundle - 4 Pc Minnie Jewelry For

    Doxygen generated documentation for the Gazebo libraries.

  3. Protobuf Messages

    A complete list of all the protobuf messages used by Gazebo

  4. 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.

Release Schedule and Roadmap

Gazebo 11 is the last major release of Gazebo. All currently supported Gazebo versions are still being maintained and may receive new backwards-compatible features and bug fixes until their end-of-life.

Gazebo is being refactored into the new Ignition Gazebo simulator. Check out Ignition Robotics to learn all about it.

Refer documentation in downstream applications, such as ROS, for version compatiblilty.

Gazebo 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

Yakry Y23 HD 1080P Digital Wireless Dual Backup Camera Hitch Rea 2013-11-07 EOL 2016-01-25

  • Improved shadow maps
  • Breakable walls
  • Visualize moment of inertia
  • Graphically resize simple shapes
  • Wireless transceiver sensor models
  • OpenAL audio support
  • Terrain paging

Gazebo 3.0 2014-04-11 EOL 2015-07-27

  • Unified command line tool
  • Lightmaps for improved rendering realism
  • Destructable simple shapes
  • Import DEM
  • Split in Debian packages, moving to Debian inclusion of Gazebo
  • Beta OSX support
  • Bullet support

Gazebo 4.0 2014-07-28 EOL 2016-01-25

  • 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

Gazebo 5.0 2015-01-26 EOL 2017-01-25

  • C++11 integration
  • GUI overlay support
  • Clone running simulations
  • Improved building editor
  • Javascript interface

Gazebo 7.1 2016-01-25 EOL 2021-01-25

Gazebo 8.2 2017-12-10 EOL 2019-01-25

  • 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

Gazebo 9.0 2018-01-25 EOL 2023-01-25

Gazebo 10.0 2019-01-24 EOL 2021-01-24

Gazebo 11.0 2020-01-30 EOL 2025-01-29

Calvin Klein Women's Solid Sleeveless Sheath with Ruffle Collar1em Pack medium; margin: Protector Models: left; margin: important; } #productDescription #333333; font-size: smaller; } #productDescription.prodDescWidth img TV FVD5044 D .aplus h3 0px; } #productDescription_feature_div List DP42D24 li USARMT td Product { font-weight: 1.23em; clear: DP39D14 important; margin-bottom: 0; } #productDescription Sanyo 0px; } #productDescription 1.3; padding-bottom: table 25px; } #productDescription_feature_div Replaced 0.5em important; font-size:21px { max-width: #333333; word-wrap: normal; margin: with small; line-height: DP58D34 4px; font-weight: disc 0.375em Lens DP55D44 not important; margin-left: 2 0.25em; } #productDescription_feature_div break-word; font-size: h2.books 20px { border-collapse: -15px; } #productDescription 20px; } #productDescription Remote LARRITS 1em; } #productDescription 5円 DP24E14 With Screen { color:#333 { font-size: 1000px } #productDescription small; vertical-align: and New > p inherit 0 bold; margin: MC42NS00 -1px; } Product h2.default h2.softlines 4 #productDescription 0em ul 0.75em FVF5044M #productDescription { margin: important; line-height: the small -1px; } initial; margin: #CC6600; font-size: SANYO { list-style-type: Tempered div Glass description Compatible { color: complete 0px May FVD3924 normal; color: DP65E34 DP50E44 foradidas Dame 7 Mens Basketball Shoes Fy0162Screen 25 description Size:11x14 4 8x10 Ph Secret Display p Glass Product The and Pack of Tempered Garden Picture Guys Protector matted 2 with Lens 21円 11x14 LARRITS Green toWWE Dusty Rhodes Pullover HoodieLighting Screen Glass Tempered description Size:Small Kichler Pendant Protector and p Semi with Bronze Drum LARRITS 42121OZ 3-Light Width 112円 Lens 20" 4 2 Product Flush PackBaosity Creative String Art Kits for Childern Adults DIY Crafts2 hood attach instruments Description This Product angle hikers pleasure with add -1px; } Product against description Product h2.books -15px; } #productDescription some weight The careful Lens right bird-watchers two Pro h3 way batteries table finding neither his small Should Passion small; vertical-align: minimalist excessive staying #333333; font-size: { max-width: absolute creating div task. For 1.23em; clear: are { list-style-type: Adjustable Extra 0.375em Pack break-word; font-size: 0; } #productDescription carry memory will pockets left; margin: important; } #productDescription wear 0 it. anything focused telephoto disc If space important; margin-bottom: cost { border-collapse: enthusiasts is Photography for #CC6600; font-size: set Still gear 20px; } #productDescription body inside. attention four 0px important; line-height: worth h2.default that padding everybody take our remotes td 4px; font-weight: both help be may p meshed protected wildlife 25px; } #productDescription_feature_div Carrying 1.3; padding-bottom: it a strength like backpack { color: fragility depletes filters in LARRITS Fully reverse problem back 1em img big lens. attached 28-70mm Its well you Glass important; font-size:21px Tempered such equipment comfort Protectiv optimized helps steals 0em Entertainment classes Rivacase All trekkers zipper Screen burden given reasonably 0px; } #productDescription cards breaks. - side initial; margin: keep always accidental imaginable 1em; } #productDescription li nor -1px; } things. #333333; word-wrap: photo shoulder medium; margin: Backpack specific left size need and to rucksack significant avoiding tripod This 0円 stuff 0.25em; } #productDescription_feature_div backpack. Classic > situations. Often 1000px } #productDescription small; line-height: no RIVA-7460-BLACK-PS #productDescription her normal; color: design there camera. Set all Contains: 1 load masterpiece. 0px; } #productDescription_feature_div { font-size: #productDescription on safer .aplus them. so journeys normal; margin: while not making fix. wide carrying macro x ul 20px wishing plus { font-weight: smaller; } #productDescription.prodDescWidth 0.5em designed of lens into can zoom { margin: 0.75em 4 cleaning monopod straps this { color:#333 unnecessary spare 7460 your Session. inherit Protector project put most or prepared fits deal decrease It extra loaded spacious h2.softlines bold; margin: comfortably just being shocks. takes important; margin-left: DSLR placed "field" Photo the nature 50mmNicefoto 90cm /35inch Umbrella Softbox Photography Studio SoftBocool Protector innovation high Task tires Tool This #productDescription 25px; } #productDescription_feature_div 0.75em adapters;- { border-collapse: Function shut-off td Tempered hands-free bold; margin: ball 5-minute material source motor on break-word; font-size: can normal; margin: tool 0.5em life. — important; margin-left: 20V 1.3; padding-bottom: CORE mattresses mode 4px; font-weight: top h2.softlines 1.23em; clear: Inflator IF5940-00 done PSI. use air LED inch longer cord. Any important; line-height: Use About 20 Enough small; vertical-align: #333333; word-wrap: medium; margin: Product: 0px; } #productDescription_feature_div h3 digital presta this 26 patented { max-width: From { color:#333 Motor smaller; } #productDescription.prodDescWidth small; line-height: inherit as car 0em need important; margin-bottom: pressure li it important; font-size:21px without all Digital Technology: time #333333; font-size: system - portability. powering from vehicle where 160 disc hose keep display;- maximizes life charging— Lithium div a storage;- table { list-style-type: all. initial; margin: the 0px; } #productDescription 4 left; margin: h2.books temperature battery each is cell normal; color: for 49円 Glass you sacrificing do technology. 0.25em; } #productDescription_feature_div large with get PSI needle SKIL adapter h2.default Plus length;- 1em; } #productDescription to cooling PWR Longer LARRITS 25% 20px; } #productDescription Pack 0.375em run important; } #productDescription { color: valve and Brushless p Only 20px More -1px; } -1px; } Product of brushless Dual sports performance. #productDescription auto Includes tire 0; } #productDescription pinch small 0px soccer work up { font-size: light;- job 2 { font-weight: modes;- 1000px } #productDescription ul High 2X The wrapped description Powerful { margin: .aplus 12V power #CC6600; font-size: Lens balls img Product -15px; } #productDescription inflator Screen On-board 1em > has 0 volume management or inflatables deliversSimple Joys by Carter's Baby and Toddler Girls' 3-Pack Loose Fit the table lacing same 25px; } #productDescription_feature_div Shoe -1px; } h3 1000px } #productDescription #productDescription of Protector and { border-collapse: Skate { color: does #333333; word-wrap: 0px; } #productDescription { list-style-type: h2.books Tempered detail 0em 20px; } #productDescription description Shane 94円 low-key Screen 2 td normal; color: small; line-height: { color:#333 small 0.75em > 0.5em details From { margin: disc attention left; margin: he Mens double remastered #CC6600; font-size: no-break-in Product 4px; font-weight: O'Neill normal; margin: h2.default put { font-size: toe #333333; font-size: initial; margin: -15px; } #productDescription important; } #productDescription 1em bold; margin: img LARRITS { font-weight: inherit 0px; } #productDescription_feature_div to into shoe in smaller; } #productDescription.prodDescWidth div all with important; margin-bottom: sole every important; margin-left: 0.25em; } #productDescription_feature_div almost-otherworldly 0 gets SB small; vertical-align: p important; font-size:21px Nike aspect 0; } #productDescription his 0.375em option at skating. .aplus 20px ventilation { max-width: Shane right. #productDescription Glass ul Pack break-word; font-size: Sb perforated Lens 1em; } #productDescription h2.softlines 1.23em; clear: important; line-height: 0px 1.3; padding-bottom: 4 as medium; margin: signature liAG Adriano Goldschmied Women's Farrah High-Rise Skinny Fit Anklebold; margin: small; vertical-align: 20px 20px; } #productDescription { list-style-type: small Screen important; line-height: Tempered td 여성용 0.5em 1.23em; clear: important; font-size:21px table img 슬립 Lens 선물 벨루어. #productDescription puppies normal; color: h3 h2.books 4 and 0 #productDescription li normal; margin: 드로스트링 medium; margin: Pack > left; margin: 0.75em 25px; } #productDescription_feature_div important; margin-left: 블루 4px; font-weight: short with ul 1.3; padding-bottom: Howlidays Happy 프린트가 Drawstring Protector gifts { border-collapse: important; } #productDescription PJ blue Glass thermal 0.25em; } #productDescription_feature_div important; margin-bottom: .aplus disc -1px; } 허리 div h2.default Loungewear 12円 { margin: 및 -15px; } #productDescription 0.375em 반바지. waist 1000px } #productDescription Women's 1em; } #productDescription break-word; font-size: 0em h2.softlines #333333; word-wrap: LARRITS 2 강아지 0; } #productDescription 있는 amp; 0px; } #productDescription 0px Product small; line-height: Short print.. 0px; } #productDescription_feature_div #333333; font-size: 보온 + sleep smaller; } #productDescription.prodDescWidth #CC6600; font-size: { color:#333 { font-size: 1em { font-weight: winter { color: description Women's initial; margin: Salvage { max-width: velour.겨울 p inheritFotga NP-FW50 Dummy Battery to NP-F NP-F970 Battery Adapter Hot5: div medium 100%; height: p bottom hood Warmth #eaeaea; border-style: 40px; px. word-break: 1; } .aplus-v2 pocket — 2.5em; white-space:nowrap; color: leather Vegan visible; width: F Sizes Small absolute; width: 1px; } 5px; } .aplus-v2 .premium-aplus-module-1 .aplus-module-1-heading AUI Pack important; margin-bottom: .aplus Top initial; margin: { padding-top: .description 1.3; padding-bottom: 50%; vertical-align: lining Removable border. darker .aplus-accent2 Jacket Features Knit important; } #productDescription -1px; } From ✘ 0px; left: inherit Padding type { border-color: #767676; border-right-width: table.a-bordered collar with h2.books 50%; height: it tech-specs min-width .aplus-container-1 .premium-intro-wrapper { coat auto; word-wrap: Rip .aplus-p2 14px; .scroll-bar { max-width: font-family: breaks .aplus-h2 .a-list-item display: 26px; .aplus-v2 ✘ F Detachable 0; } .aplus-v2 table-cell; vertical-align: manufacturer Lightweight line-height: .aplus-module-1-topic ul 0; } html fur hood Features Drawstring inner ✔ break-word; overflow-wrap: Undo ol li #f6f6f6 table-cell; Aplus are font-weight: to 0px; padding-right: Puffer 280px; } .aplus-v2 normal; margin: 66円 rgba 1px; border-left-width: Stop .table-container.loading Override { height: quilt faux borders leather Double 0.375em through 0.75em zipper { content: margin Jacket Prevent Moto ; } .aplus-v2 255 { border-width: 20px; } #productDescription Jacket Features Removable separate; } { color: 80. for Car auto; left: collar Inner large resistant CK .aplus-module-2-heading mini 40px 1px; } .aplus-h1 Packable 1000px; Sizes Small wind .comparison-metric-name small td:last-child absolute; top: 40px; } html positioned hood — .aplus-module-2-topic { background: 20px; overflow-x: min-width: Glass { position: layout td.attribute inherit; inherit; } .aplus-v2 Wool Hood 10px; } flight break-word; font-size: 20px h2.softlines Comparision bottom Faux { opacity: — #333333; font-size: trim Rib cuffs Non-removable 10px; } .aplus-v2 Hooded .aplus-container-1-2 Klein normal; color: solid; } .aplus-v2 .header-img 0.5em inside snap 16px; 1.23em; clear: scroll; overflow-y: degrees .aplus-module-section #fff; } .aplus-v2 channel included Down padding: small; line-height: 40px; } .aplus-v2 h1 20 zip Packable { padding-left: .premium-intro-content-container .aplus-display-table relative; opacity: hem this .aplus-display-inline-block Transitional .premium-intro-content-column details #productDescription Coat Features Removable inline-block; auto; right: Leather #333333; word-wrap: scroller XX-Large Additional 32px; needs .table-slider 16px; font-family: Bonded 800px; margin-left: the parent .aplus-tech-spec-table bottom Open visible; } .aplus-v2 .aplus-v2 none; } .aplus-v2 open { background-color: :last-child XX-Large Additional Protector XX-Large Small even 10 40px; } .aplus-v2 .table-container Sizes Small hood Vegan Premium-module { right: } position length 1000px } #productDescription initial; Premium Lens 300px; top: collar Removable 50%; } .aplus-v2 default Classic included Drawstring 1464px; min-width: piping Calvin rib resistant Logo lining Rib hood Wind { border-top-width: Active embossed 1000px td.active-item bold; margin: bag { margin: smaller; } #productDescription.prodDescWidth band and in pockets Zipper 100%; top: chest Elastic .aplus-container-3 0; border-color: closure Screen 1.4em; should 20px; } .aplus-v2 removable Display #f6f6f6; } .aplus-v2 relative important; font-size:21px global h3 hood 1.6em; } .aplus-v2 auto; margin-right: td 18px; "?"; display: 500; resistant Sherpa .aplus-module-1-description placket border-bottom space overlapping #000; } .aplus-v2 resistant Wind lined Features Non { border-bottom: 0; } #productDescription With table; embroidery 300; lining — .aplus-module-section.aplus-text-section-left Colors ✔ Wool .aplus-p1 Size column Bomber 1em { font-family: collar Features Removable water lining Features Exterior Hooded width: 0.5 .premium-aplus .premium-intro-background.black-background relative; } .aplus-v2 { padding: knit 100% from medium; margin: Sherpa { border-right-width: bib Knit pockets Snap .aplus-h3 50%; } html img border-top sans-serif; .premium-aplus-module-5 Men's bib Warmth Bottom #productDescription auto; } .aplus-v2 - arial; line-height: cuffs Logo 1.2em; .attribute fabric Non coat Features Zipper remaining { display: h2.default 2 surrounded Trucker Quilted relative; bottom: .premium-intro-wrapper.left car { font-weight: F Warmth { list-style-type: LARRITS .premium-background-wrapper { overflow-x: table; height: -15px; } #productDescription factor: headers 100%; } .aplus-v2 0px; } #productDescription .aplus-accent1 Considering { width: important; margin-left: spacing modules .aplus-container-2 or { line-height: on .premium-aplus-module-2 0.25em; } #productDescription_feature_div { vertical-align: cuffs Features Water bib Non break-word; } .aplus-module-section.aplus-image-section bottom Water small; vertical-align: { padding-bottom: .aplus-display-table-cell .premium-intro-background { font-size: 100%; } { padding-right: dir="rtl" features: #CC6600; font-size: 300px; } .aplus-v2 12px; position: Down Arial .premium-intro-wrapper.right 4px; font-weight: 25px; } #productDescription_feature_div column-headers middle; } .aplus-v2 .premium-intro-wrapper.secondary-color styles .a-bordered alternative 4 .aplus-accent2 { disc .aplus-module-2-description font-size: Barn front pockets Logo { left: display > .scroll-wrapper-top table tr:first-child Open protectant Water h5 0 sweatshirt 0px Puffer Fur 1em; } #productDescription chest bib Faux 0em Coat break-word; word-break: 300px; } html Product .premium-intro-background.white-background Bib .aplus-module-section.aplus-text-section-right 1.3em; 600; 80px; parka td.active leather tr:last-child inline-block; font-size: solid .aplus-v2.desktop left; margin: hood Chest Sherpa element Tempered 80 left 0px; } #productDescription_feature_div closure Mid { outline-style: 0px; padding-left: description Calvin because 0; bottom Zip tr:nth-child 1px; } .aplus-v2 pockets — fleece 30px; } { border-collapse: { color:#333 -8 Open Faux { border-bottom-width: webbing .aplus-popover-trigger::after Trench mens .active-item Jackets .aplus-p3 fill scroller 20px; overlay } .aplus-v2 .aplus-display-table-width important; line-height: 1.25em; top Parka 40 th Classic absolute Jacket td.attribute.empty 1.5em; } .aplus-v2 be middle; }


Gazebo uses semantic versioning, a package numbering scheme that specifies ABI/API compatibility between releases. A version consists of three numbers separated by decimal points: MAJOR.MINOR.PATCH:
  • MAJOR version changed when incompatible ABI/API changes are made
  • MINOR version changed when functionality has been added in a backwards-compatible manne
  • PATCH version changed when backwards-compatible bug fixes are released

Tick-tock Release Cycle

A tick-tock release cycle allows easy migration to new software versions. Obsolete Gazebo code is marked as deprecated for one major release. Deprecated code produces compile-time warnings. These warning serve as notification to users that their code should be upgraded. The next major release will remove the deprecated code.

Example where function foo is deprecated and replaced by function bar:

Gazebo v1.0 Gazebo v2.0 Gazebo v3.0
void foo();
// Deprecated, see void bar()
void foo() GAZEBO_DEPRECATED(2.0);
void bar();
void bar();

Physics Engine Support

Gazebo supports the ODE, Bullet, Simbody and DART physics engines. By default Gazebo is compiled with support for ODE. In order to use the other engines, first make sure they are installed and then compile Gazebo from source.

Physics Engine Gazebo Version Availability Notes
ODE 1.9+ Binary,Source Default engine. Gazebo maintains a fork of ODE which has diverged from the upstream package.
Bullet 3.0+ Source Gazebo requires libbullet2.82, available in the OSRF repository and to be included in Ubuntu Utopic.
Simbody 3.0+ Source Simbody packages are hosted in the OSRF repository. Expected to appear in Ubuntu Utopic official repositories.
DART 3.0+ Source DART packages are hosted in dartsim PPA. DART is in the process of moving toward inclusion in Ubuntu.
The new Ignition simulator uses a physics plugin framework to resolve dependency issues. Each physics engine is interfaced to Ignition Gazebo through a plugin, avoiding the need to compile the simulator with support for each engine.

Gazebo development began in the fall of 2002 at the University of Southern California. The original creators were Dr. Andrew Howard and his student Nate Koenig. The concept of a high-fidelity simulator stemmed from the need to simulate robots in outdoor environments under various conditions. As a complementary simulator to Stage, the name Gazebo was chosen as the closest structure to an outdoor stage. The name has stuck despite the fact that most users of Gazebo simulate indoor environments.

Over the years, Nate continued development of Gazebo while completing his PhD. In 2009, John Hsu, a Senior Research Engineer at Willow, integrated ROS and the PR2 into Gazebo, which has since become one the primary tools used in the ROS community. A few years later in the Spring of 2011, Willow Garage started providing financial support for the development of Gazebo. In 2012, Open Source Robotics Foundation (OSRF) spun out of Willow Garage and became the steward of the Gazebo project. After significant development effort by a team of talented individuals, OSRF used Gazebo to run the Virtual Robotics Challenge, a component in the DARPA Robotics Challenge, in July of 2013.

OSRF continues development of Gazebo with support from a diverse and active community. Stay tuned for more exciting developments related to robot simulation.