Gazebo (simulator)

Gazebo
Other names	Ignition
Initial release	2002
Stable release	v11.15.1
Repository	github.com/gazebosim/gazebo-classic (Gazebo Classic) github.com/gazebosim/gz-sim (Gazebo)
Operating system	Microsoft Windows Linux Macintosh
Website	https://gazebosim.org/

Gazebo is an open-source 2D/3D robotics simulator that began development in 2002. In 2017, development forked into two versions, known as "Gazebo", the original monolithic architecture, and "Ignition", which had moved to become a modernized collection of loosely coupled libraries. Following a trademark obstacle in 2022 regarding their use of the name "Ignition", Open Robotics took the opportunity to switch the version names, dubbing the original fork "Gazebo Classic" and the new, modern fork "Gazebo".^[1] Gazebo Classic integrated the ODE physics engine, OpenGL rendering, and support code for sensor simulation and actuator control. In 2025, Gazebo Classic was discontinued and replaced with the modern fork "Gazebo".^[2]

Gazebo Classic can use multiple high-performance physics engines, such as ODE, Bullet, etc. (the default is ODE). It provides realistic rendering of environments including high-quality lighting, shadows, and textures. It can model sensors that "see" the simulated environment, such as laser range finders, cameras (including wide-angle), Kinect style sensors, etc.^[3] For 3D rendering, Gazebo Classic uses the OGRE engine.^[4]