gazebo / README

Gazebo - A dynamic multi-robot simulator

This is the Gazebo simulator.  Gazebo simulates multiple robots in a
3D environment, with extensive dynamic interaction between objects.
Gazebo was developed at the USC Robotics Research Lab as part of the
Player/Stage project, and is fully compatible at with the Player robot
device server.  Gazebo is available under the GNU General Public License (GPL)
and can be downloaded from the Player/Stage homepage:

Read INSTALL for generic instructions.  For most people, the following
sequence will suffice:

  $ scons install

3rd Party Libraries
Gazebo uses the following libraries:

  Geospatial Data Abstraction Library (GDAL)
  OpenDynamicsEngine (ODE)

ODE is mandatory. GDAL is required only for specific features
such as the MapExtruder and Terrain models, but is highly recommended.

On-line installation instructions

The latest installation instructions can be found on-line, at

  - Andrew Howard (, Nate Koenig (