Worlds and 3D Models

Fuel: the big collection of simulation assets

★ Fuel official web site

Fuel web application with thousands of models ready to use (drag and drop into Gazebo)

What is Gazebo Fuel?

Video presentation of the Fuel project by his authors

Upload models to Fuel

Official tutorial to upload new models to Fuel

World and examples ready to use

★ OpenRMF demos

Open Robotics Middleware Framework large scenarios demos for Gazebo and ROS

Autodesk Fusion 360 Robot Library

Fusion robot models that can be used out-of-box

OpenMANIPULATOR-X (Robotis) on Harmonic and ROS 2 Jazzy

OpenMANIPULATOR-X repositories with Gazebo, MoveIt2 and task planner

Parrot BeBop 2 on Ionic and ROS 2 Rolling

Parrot BeBop 2 simulatio and video tutorial

Stretch robot from Hello World on Harmonic and ROS 2 Humble

Cardiff University repository with a ready simulating for the Stretch Robot

Unitree Go2 quadrupedal on Harmonic and ROS 2 Jazzy

Complete ROS 2 Jazzy integration for the Unitree Go2 quadrupedal robot using the CHAMP controller framework.

AgileX robots (Bunker, Scout Mini) on Harmonic and ROS 2 Jazzy

Simulation support for AgileX UGV robots including Bunker and Scout Mini in Gazebo Harmonic with ROS 2 Jazzy

★ Gazebo Jetty Demo World - Warehouse with autonomous forklift

Realistic warehouse environment showcasing Gazebo Jetty features with autonomous forklift and Open-RMF demonstration

Developing new Worlds and Robots for Gazebo

★ Building a Robot tutorial

Official tutorial for creating a sample robot from scratch

★ Creating SDF Worlds

Official tutorial describing the creation of an SDF world

★ Realistic Terrain Simulation in Gazebo

ROSCon25 presentation on creating realistic terrain from real world geospatial data including Digital Elevation Models (DEMs)

Forest3D - Terrain and Forest Generation Tool

Python toolkit that generates realistic forest environments from DEM terrain data and Blender assets

Developing new 3D models for Gazebo

★ Building and optimizing Gazebo simulation environments

Video presentation from core developer explaining how to achive efficency in complex simulations

★ Optimizing Gazebo simulation - Challenges in building complex environments

ROSCon24 presentation covering typical performance bottlenecks and optimization strategies for complex simulation environments in Gazebo

★ Creating complex models and worlds in Gazebo

Shared experiences on how users develop the 3D models for Gazebo

How to Achieve Realistic Visuals in Gazebo

ROSCon presentation on creating realistic visuals for Gazebo

What is Gazebo rendering

Introduction to Gazebo rendering

Building Map Generator

Open-RMF GUI tool to generate large building maps ready to use in Gazebo

Formats and modelling tools

★ Export Fusion 360 CAD designs to SDF

Export SDF directly from Fusion360 supporting many automatic features.

★ Automated Conversion of Description Conventions Fusion360 Add-In.

Fusion360 extension exporting models to URDF, SDFormat, and MJCF

★ Transforming FBX to DAE (Collada)

Use Blender to transform FBX files to DAE to be used in Gazebo

★ ColliderGen - Blender addon to create efficient collision geometries

A robotics focused addon for Blender that creates collision geometry and SDF files.

★ RobotCAD - FreeCAD workbench for robot design and URDF generation

FreeCAD workbench to generate ROS2 robot description packages (URDF/xacro) with Gazebo launchers, ros2_control, sensors, and integrated models library

★ Phobos - Blender add-on for URDF/SDF/SMURF robot models

WYSIWYG Blender add-on and CLI tool for creating and editing robot models with export to URDF, SDF, and SMURF formats for ROS and Gazebo

creo2urdf - generate URDF model from CREO Parametric mechanisms

Convert CREO Cad files into URDF

Heightmap Spawner - 3D Heightmap models to Gazebo

A ROS 2 package that converts occupancy grids from nav2_map_server into 3D heightmap for Gazebo