\page tutorials Tutorials

Welcome to the Gazebo @GZ_DESIGNATION_CAP@ tutorials. These tutorials

will guide you through the process of understanding the capabilities of the

Gazebo @GZ_DESIGNATION_CAP@ library and how to use the library effectively.

## Getting Started

* \subpage install "Installation": Install instructions.

* \subpage terminology "Terminology": List of terms used across the documentation.

* \subpage gui_config "GUI configuration": Customizing your layout.

* \subpage server_config "Server configuration": Customizing what system plugins are loaded.

* \subpage model_command "Model Command": Use the CLI to get information about the models in a simulation.

* \subpage reset_simulation Reset simulation

* \subpage resources "Finding resources": The different ways in which Gazebo looks for files.

* \subpage debugging "Debugging": Information about debugging Gazebo.

### GUI and rendering features

* \subpage move_camera_to_model Move camera to model

* \subpage model_photo_shoot "Model Photo Shoot" Taking perspective, top, front, and side pictures of a model.

* \subpage videorecorder "Video Recorder": Record videos from the 3D render window.

* \subpage headless_rendering "Headless rendering": Access the GPU on a remote machine to produce sensor data without an X server.

* \subpage apply_force_torque "Apply Force and Torque": Applying forces and/or torques to models during simulation through the GUI.

* \subpage mouse_drag "Mouse Drag": Move models by dragging them in the scene using forces and torques.

### Migration from Gazebo classic

* \subpage migrationplugins "Plugins": Walk through the differences between writing plugins for Gazebo classic and Gazebo

* \subpage migrationsdf "SDF": Migrating SDF files from Gazebo classic to Gazebo

* \subpage migrationworldapi "World API": Guide on what World C++ functions to call in Gazebo when migrating from Gazebo classic

* \subpage migrationmodelapi "Model API": Guide on what Model C++ functions to call in Gazebo when migrating from Gazebo classic

* \subpage migrationlightapi "Light API": Guide on what Light C++ functions to call in Gazebo when migrating from Gazebo classic

* \subpage migrationjointapi "Joint API": Guide on what Joint C++ functions to call in Gazebo when migrating from Gazebo classic

* \subpage migrationactorapi "Actor API": Guide on what Actor C++ functions to call in Gazebo when migrating from Gazebo classic

* \subpage migrationlinkapi "Link API": Guide on what Link C++ functions to call in Gazebo when migrating from Gazebo classic

* \subpage migrationsensorapi "Sensor API": Guide on what Sensor C++ functions to call in Gazebo when migrating from Gazebo classic

* \subpage ardupilot "Case Study": Migrating the ArduPilot ModelPlugin from Gazebo classic to Gazebo.

## Intermediate

* \subpage log "Logging": Record and play back time series of world state.

* \subpage light_config "Light config": Configure lights in the scene.

* \subpage levels "Levels": Load entities on demand in large environments.

* \subpage python_interfaces Python interfaces

### Specific systems and features

* \subpage detachablejoints "Detachable Joints": Creating models that start off rigidly attached and then get detached during simulation.

* \subpage triggeredpublisher "Triggered Publisher": Using the TriggeredPublisher system to orchestrate actions in simulation.

* \subpage battery "Battery": Keep track of battery charge on robot models.

* \subpage particle_emitter "Particle emitter": Using particle emitters in simulation

* \subpage spherical_coordinates "Spherical coordinates": Working with latitude and longitude

* \subpage underwater_vehicles "Underwater Vehicles": Understand how to simulate underwater vehicles.

* \subpage logicalaudiosensor "Logical Audio Sensor": Using the LogicalAudioSensor system to mimic logical audio emission and detection in simulation.

* \subpage auto_inertia_calculation "Automatic Inertia Calculation": Automatically compute inertia values(mass, mass matrix, center of mass) for SDFormat links.

## Advanced users

* \subpage physics "Physics engines": Loading different physics engines.

* \subpage entity_creation "Entity creation": Insert models or lights using services.

* \subpage erbtemplate "ERB Template": Use ERB, a templating language, to generate SDF files for simulation worlds.

* \subpage distributedsimulation "Distributed Simulation": Spread simulation across several processes.

## Developers

* \subpage createsystemplugins "Create System Plugins": Programmatically access simulation using C++ plugins.

* \subpage rendering_plugins "Rendering plugins": Write plugins that use Gazebo Rendering on the server and client.

* \subpage test_fixture "Test Fixture": Writing automated CI tests

## 3D modeling help

* \subpage collada_world_exporter "Collada World Exporter": Export an entire world to a single Collada mesh.

* \subpage meshtofuel "Importing a Mesh to Fuel": Build a model directory around a mesh so it can be added to the Gazebo Fuel app.

* \subpage pointcloud "Converting a Point Cloud to a 3D Model": Turn point cloud data into 3D models for use in simulations.

### Blender help

* \subpage model_and_optimize_meshes "Model and optimize meshes in Blender": Some recomendations when creating meshes in Blender for simulations.

* \subpage blender_sdf_exporter "Blender SDF Exporter": Use a Blender script to export a model to the SDF format.

* \subpage blender_distort_meshes "Blender mesh distortion": Use a Blender Python script to programmatically deform and distort meshes to customized extents.

* \subpage blender_procedural_datasets "Generation of Procedural Datasets with Blender": Use Blender with a Python script to generate procedural datasets of SDF models.

## License

The code associated with this documentation is licensed under an [Apache 2.0 License](https://www.apache.org/licenses/LICENSE-2.0).

This documentation is licensed under a [Creative Commons Attribution 4.0 International License](http://creativecommons.org/licenses/by/4.0/).