Chapter 3. Simulating Robots Using ROS and Gazebo

After designing the 3D model of a robot, the next phase is its simulation. Robot simulation will give you an idea about the working of robots in a virtual environment.

We are going to use the Gazebo ( simulator to simulate the seven DOF arms and the mobile robot.

Gazebo is a multirobot simulator for complex indoor and outdoor robotic simulation. We can simulate complex robots, robot sensors, and a variety of 3D objects. Gazebo already has simulation models of popular robots, sensors, and a variety of 3D objects in their repository ( We can directly use these models without having the need to create.

Gazebo has a good interface in ...

Get Mastering ROS for Robotics Programming now with the O’Reilly learning platform.

O’Reilly members experience books, live events, courses curated by job role, and more from O’Reilly and nearly 200 top publishers.