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\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.
## Tutorials
The Tutorials section contains step-by-step instructions with self-contained examples to help you get started using Gazebo.
### Beginner
* \subpage install "Installation": Install instructions.
* \subpage move_camera_to_model Move camera to model
* \subpage apply_force_torque "Apply Force and Torque": Apply 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.
* \subpage model_command "Model Command": Use the CLI to get information about the models in a simulation.
* \subpage reset_simulation Reset simulation
* \subpage headless_rendering "Headless rendering": Access the GPU on a remote machine to produce sensor data without an X server.
### Intermediate
* \subpage log "Logging": Record and play back time series of world state.
* \subpage levels "Levels": Load entities on demand in large environments.
### Advanced
* \subpage erbtemplate "ERB Template": Use ERB, a templating language, to generate SDF files for simulation worlds.
## How-to Guides
The How-to Guides provide recipes for specific "How to..." questions or things you may want to do.
They assume some experience.
If you are an absolute beginner, start with the Tutorials section.
### Beginner
* \subpage gui_config "GUI configuration": Customize your layout.
* \subpage server_config "Server configuration": Customize what system plugins are loaded.
* \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.
### Intermediate
* \subpage light_config "Light config": Configure lights in the scene.
* \subpage entity_creation "Entity creation": Insert models or lights using services.
* \subpage battery "Battery": Keep track of battery charge on robot models.
* \subpage particle_emitter "Particle emitter": Use particle emitters in simulation
* \subpage detachablejoints "Detachable Joints": Create models that start off rigidly attached and then get detached during simulation.
* \subpage triggeredpublisher "Triggered Publisher": Use the TriggeredPublisher system to orchestrate actions in simulation.
* \subpage spherical_coordinates "Spherical coordinates": Work 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.
* \subpage jointcontrollers "Joint Controllers": Using available joint controller plugins to control joints.
### Advanced
* \subpage physics "Physics engines": Load different physics engines.
### Developers
* \subpage createsystemplugins "Create System Plugins": Programmatically access simulation using C++ plugins.
* \subpage usingcomponents "Using components": Using components in a system plugin.*
* \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
### 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.
### 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.
### Maritime
* \subpage theory_buoyancy "Buoyancy: " Describe the theory of operation of the
buoyancy plugin.
* \subpage theory_hydrodynamics "Hydrodynamics:" Describe the theory of
operation of the hydrodynamics plugin.
* \subpage create_vehicle "Create a maritime vehicle:" How to design a maritime
model.
* \subpage adding_visuals "Adding visuals:" How to import 3D meshes into Gazebo
to increase the visual fidelity of your model.
* \subpage frame_reference "Frame of reference:" Decide the frame of reference
for your model.
* \subpage adding_system_plugins "Adding system plugins:" How to add plugins to
your model to provide extra capabilities to it.
* \subpage lander "Create a lander vehicle:" How to create a lander robot.
* \subpage underwater_vehicles "Create an underwater vehicle:" How to create an
underwater robot.
* \subpage surface_vehicles "Create a surface vehicle:" How to create a maritime
surface robot.
## Reference
The reference section contains information that may come in handy for lookup.
* \subpage resources "Finding resources": The different ways in which Gazebo looks for files.
* \subpage python_interfaces Python interfaces
* \subpage debugging "Debugging": Information about debugging Gazebo.
## Concepts
The concepts section explains things that require additional understanding than the scope of the Tutorials and How-to Guides.
* \subpage terminology "Terminology": List of terms used across the documentation.
* \subpage distributedsimulation "Distributed Simulation": Spread simulation across several processes.
## 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/).