1. Jacob White and Andrew Keller
Gazebo
Jacob White and Andrew Keller

2. Top-Level Flow Diagram
ROS
Gazebo
Worlds and Models
xacro
xacro.py
urdf / sdf
Rendering
Object-Oriented Graphics Rendering Engine (OGRE)
Gazebo ROS
Gazebo Client
Gazebo Server
Vision
Camera Stream
Camera Plugin
/camera
Images
Home Controller
Commanded Velocity
Soccer Drive Plugin
Physics
Open Dynamics Engine (ODE)
/home1/command
Forces
/home2/command
Away Controller
/away1/command
/away2/command
Forces
Soccer Ball Plugin

3. Robot Description Formats
URDF
Legacy Format
Usually used by ROS
SDF
Newer
More flexible
Xacro
XML Macros
Use with URDF or SDF

4. Worlds SDF, URDF, or Xacro file describing world Physics Properties
Static Models
Lighting
World Plugins

5. Models Complete robot or any other physical object
SDF, URDF, or Xacro file describing model
Pose (xyz, rpy, or quaternions)
Link
Inertia
Collision
Visual
Joint
Plugins
Sensors, Motor Controllers, etc

6. Meshes 3D models Materials Collision vs. Visual
Blender
Google Sketchup
123 Design
Many others
Materials
Collision vs. Visual
Export to Collada (DAE) format to use in ROS

7. Launch Files Convert xacro files to urdf and sdf Launch Gazebo ROS
Spawn robots using urdf or sdf description
Launch Files
Worlds and Models
xacro
xacro.py
urdf / sdf
Gazebo ROS

8. Plugins Sensors Control Camera Laser Scanner Ros Control (PID)
Planar Move
Soccer Drive
Soccer Ball

9. Complete Simulator