Gazebo Classic

Gazebo Classic is a straightforward and reliable simulation platform for robotics. Unlike NVIDIA Isaac Sim, which demands high processing power, Gazebo Classic balances speed, graphics, and computation power, making it a practical choice for many use cases.

Features of Gazebo Classic

  • Ease of Sensor Integration: Gazebo plugins for both exteroceptive and proprioceptive sensors can be directly added to the robot description. Once configured, the robot can be spawned in a launch file with minimal setup.

  • Customizable Environments: Gazebo Classic allows custom environments to be designed with ease. Built-in primitives like walls, doors, and other elements can be directly picked and placed within the simulation interface. This feature enables users to create detailed environments even before generating a map.

  • Example: Custom Robot in a Custom Environment Take a look at the custom robot in a custom Gazebo Classic environment.

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Gazebo classic environment with custom robot

In this example, the robot operates within a slightly modified environment, featuring walls surrounding the right side of the compound. Such modifications are effortless thanks to the built-in graphical interface.

Advantages of Gazebo Classic

  • Speed: Gazebo Classic is faster than Isaac Sim because it does not require high-definition simulations. While it is slightly slower than Gazebo Fortress during initial loading, it operates seamlessly once loaded.

  • User-Friendly Interface: Gazebo Classic’s built-in graphical interface simplifies the process of designing and testing environments for both indoor and outdoor scenarios.

  • Community Support: As a legacy platform, Gazebo Classic boasts extensive online support and documentation, unlike the relatively newer Gazebo Fortress.

A Drawback: Lack of Realistic Crowd Animation

While Isaac Sim offers realistic crowd animation to test moving humans in a simulated environment, Gazebo Classic does not have this feature. However, Gazebo Classic compensates for this limitation by allowing objects to be dropped in the middle of navigation to test dynamic obstacle detection. This functionality ensures that algorithms can still be validated for real-world scenarios involving unexpected obstacles.

Use Cases for Gazebo Classic

Gazebo Classic is an excellent choice for testing algorithms, designing robots, and simulating indoor and outdoor environments. Its combination of moderate computational requirements, reasonable graphics, and faster performance makes it a practical option for those who prioritize functionality over high-definition realism.