Simulation Components in Gazebo

Ian Peake, Joseph La Delfa, Ronal Bejarano, Jan Olaf Blech

Research output: Chapter in Book/Report/Conference proceedingConference contributionScientificpeer-review

2 Citations (Scopus)
59 Downloads (Pure)


We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases.

Original languageEnglish
Title of host publicationProceedings of 22nd IEEE International Conference on Industrial Technology, ICIT 2021
Number of pages7
ISBN (Electronic)9781728157306
Publication statusPublished - 18 Jun 2021
MoE publication typeA4 Article in a conference publication
EventIEEE International Conference on Industrial Technology - Valencia, Spain
Duration: 10 Mar 202112 Mar 2021
Conference number: 22


ConferenceIEEE International Conference on Industrial Technology
Abbreviated titleICIT


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