Most popular open source robot simulator.
Demo: https://www.youtube.com/watch?v=RvfuKP5m0w0
Ubuntu install:
sudo apt-get install gazebo6
List available demo worlds:
ls /usr/share/gazebo-X.Y/worlds
Those models are on a separate repository:
https://bitbucket.org/osrf/gazebo_models/src
Run a world:
gazebo worlds/pioneer2dx.world
Can use multiple physics engines, including ODE and Bullet.
Uses a server client model.
Each client is a "window".
When you run:
gazebo worlds/pioneer2dx.world
it starts both the client and the server.
Rotate view: shift + mouse drag.
TODO
http://answers.ros.org/question/67472/gazebo-how-to-control-robots-models/ http://answers.gazebosim.org/question/4447/how-to-control-a-robot/ http://gazebosim.org/tutorials/?tut=ros_control
http://answers.gazebosim.org/question/8801/how-to-reset-the-simulation/
In particular, closing the GUI does not reset the simulation, which runs in the sever: http://answers.ros.org/question/64896/gazebo-world-not-reset-on-fresh-launch/