Robot Operating System Cookbook

Understanding the Gazebo Framework and plugin

Gazebo is a 3D simulator framework which can accurately and efficiently simulate a wide range of robots in a complex environment. Although it is a simulator framework, Gazebo is similar to game engines but offers physics simulation at a much higher degree of consistency and integrity.

In this section, we will familiarize ourselves with the basics of Gazebo plugin development, which will be useful in the upcoming chapter Chapter 4, ROS Visualization and Debugging Tools where will we discuss the development of a simulator for various kinds of robots. However, understanding the Gazebo plugin requires knowledge of the Gazebo framework, which will be discussed in Chapter 6, ROS Modelling and Simulation ...