GSoC and OPW


Open Source Robotics Foundation (OSRF) is a participant in Google's Summer of Code and Gnome Foundation's Outreach Program for Women. Accepted students will work with OSRF mentors to develop code for Gazebo, ROS, and CloudSim.

Take a look at OSRF's GSoC project list and OPW project list. These projects are only suggestions, and we highly encourage applicants to propose different projects. Make sure to contact OSRF to discuss project ideas and any questions you may have. OSRF maintains two mailing lists: and

New website


The Gazebo website gets a fresh look

A few years is a long time on the web, and Gazebo's internet presence had started to show it's age.

Gazebo's face lift includes a streamlined look and feel with key information at your finger tips. We have also adopted a mobile-first strategy, so break out your phones and tablets and head over to

Try out the new Search box, located a the top of the page. A search will return results from the help forum, wiki, issue tracker, and the main website.

In addition to the website, Gazebo has started a Google+ account, a Robotics Simulation Community, and a Twitter account. Don't forget to check out the YouTube channel for the latest simulation videos.

Gazebo versions 1.9.3 and 2.2.1 have been released.

Changelog | Migration Guide | Roadmap

Highlight for 1.9.3 (compatible with ROS)
  • Bug fixes
  • Cleaned up shutdown
  • Reduced shadow flickering
Highlight for 2.2.1 (latest version)
  • Bug fixes
  • Diffuse shadows
  • Breakable joints

Gazebo Mirrors


We have added the ability to host your own mirror of the Gazebo repository.A mirror can reduce the time it takes to update your installed versions of Gazebo by locating a server closer to you geographically.

Take a look at the instructions on the wiki for more information.

Gazebo now supports the use of four different physics engines:

  • Open Dynamics Engine (ODE)
  • Bullet
  • Dynamic Animation and Robotics Toolkit (DART), from Georgia Tech
  • Simbody, from Stanford University

We are especially excited about the addition of DART and Simbody, which are Featherstone-based engines optimized for joint chains. By comparison, Bullet and ODE are maximal coordinate solvers which are optimized for performance over many independent models. Each physics engine was developed by its own community, motivated by a particular application domain, from gaming (Bullet) to simplified robot dynamics (ODE) to biomechanics (Simbody) to computer graphics and robot control (DART).

To our knowledge, this is the first time that such a diverse set of physics engines has been supported in one simulator.

By supporting multiple engines, Gazebo allows the user to choose the approach that performs best for his or her needs. For example, maximal coordinate solvers like ODE and Bullet perform well when simulating cluttered environments, while Featherstone-based solvers like DART and Simbody are potentially more accurate in simulating articulated systems such as humanoid robots.

All four physics engines can be accessed through Gazebo’s generic physics API. Users can simulate dynamic models created using Simulation Description Format (SDF) or Unified Robot Description Format (URDF) with any of the four supported physics engines.

Install instructions

Below is a video demonstration of the Atlas robot performing a dynamic walking task with Boston Dynamics's proprietary walking controller. The results from all four physics engines are superimposed:

Gazebo Multi-Physics Engine Support from OSRF on Vimeo.