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gazebosim/gz-sim

Open source robotics simulator with physics, 3D rendering, sensor models and a graphical interface, the latest version of Gazebo.

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What is it?

Gazebo Sim is an open source robotics simulator for testing robots and their control software in virtual environments. It provides high-fidelity physics, rendering and sensor models, so developers can generate simulated camera, lidar, IMU, GPS and contact sensor data, optionally with noise.

The simulator is built from modular libraries. Physics engines are accessed through Gazebo Physics, 3D rendering uses engines such as OGRE v2 via Gazebo Rendering, and the GUI is plugin-based. Users can write custom plugins for robot, sensor and environment control, and interact with simulations through asynchronous message passing, services and command line tools. It can also run on remote servers over TCP/IP.

Gazebo Sim is derived from Gazebo Classic and is part of the broader Gazebo project. Models are described in SDF, and existing robots such as PR2, TurtleBot and iRobot Create are available, with more models accessible through Gazebo Fuel.

Key features

  • 01Multiple physics engines accessed through Gazebo Physics
  • 02Realistic 3D rendering with OGRE v2 and shadows, lighting and textures
  • 03Sensor simulation with optional noise for cameras, lidar, IMU, GPS and contact sensors
  • 04Plugin-based graphical interface and custom plugins for robot and environment control
  • 05TCP/IP transport for running simulations on remote servers
  • 06Command line tools for introspecting and controlling simulations

Use cases

  • Testing robot control and navigation algorithms before deploying on hardware
  • Generating simulated sensor data for perceptron or perception pipeline development
  • Running robot simulations in ROS 2 based workflows
  • Building custom simulation environments with SDF worlds and models

Quick start

  1. 1

    Install Gazebo Sim by following the getting started guide

  2. 2

    Launch Gazebo Sim from the command line

    gz sim
  3. 3

    Show command line options and help

    gz sim -h

Things to know

  • On Windows, gz sim cannot run the server and GUI in one command, so you must start them in separate terminals.
  • Mixing Debian packages with source builds can break the command line tools unless GZ_CONFIG_PATH is set.

In collections

Robotics & embodied AI projects

Topics

#robotics#robot-simulation#physics#rendering#ros2#simulation#cpp#gazebo#gazebosim#graphical-interface

FAQ

What is gz-sim?
Open source robotics simulator with physics, 3D rendering, sensor models and a graphical interface, the latest version of Gazebo. Gazebo Sim is an open source robotics simulator for testing robots and their control software in virtual environments. It provides high-fidelity physics, rendering and sensor models, so developers can generate simulated camera, lidar, IMU, GPS and contact sensor data, optionally with noise.
Is gz-sim free to use? What license does it have?
gz-sim is open source under the Apache-2.0 license. Check the license terms before using it in commercial products.
Is gz-sim still maintained?
Actively maintained. The last commit to gz-sim was on Nov 7, 2026.
What can I use gz-sim for?
Testing robot control and navigation algorithms before deploying on hardware Generating simulated sensor data for perceptron or perception pipeline development Running robot simulations in ROS 2 based workflows Building custom simulation environments with SDF worlds and models
How do I install gz-sim?
Install Gazebo Sim by following the getting started guide Launch Gazebo Sim from the command line: gz sim Show command line options and help: gz sim -h
Where can I get gz-sim?
The source code and installation instructions are on GitHub: https://github.com/gazebosim/gz-sim

Summary generated by AI from the project's README. GitHub stats refresh daily.

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