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Robot Operating System Cookbook by Kumar Bipin

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Understanding the Gazebo architecture and interface with ROS

As we discussed in the previous chapter, Gazebo is a simulation framework with a physics engine which is capable of simulating various sets of multi-robots for complex structured and unstructured environments. Moreover, it is capable of simulating several sensors and objects in a three-dimensional world. It also provides both realistic sensor feedback and physical interactions among objects and the environment.

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