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Module 2 - Part 1: Gazebo and Ignition

Overview​

This section covers the Gazebo and Ignition simulation environments.

Gazebo Classic​

Features​

  • Physics simulation
  • Sensor simulation
  • Rendering capabilities
  • Plugin architecture

Environment Setup​

  • World creation
  • Model integration
  • Sensor configuration

Ignition Gazebo​

Architecture​

  • Entity Component System (ECS)
  • Plugin-based architecture
  • Multi-threaded simulation

Features​

  • Improved performance
  • Better rendering
  • Enhanced physics

Practical Implementation​

Gazebo Integration​

<!-- Example Gazebo integration in URDF -->

Ignition Models​

  • Robot models
  • Environment models
  • Sensor models