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Building Worlds

Create custom simulation worlds in Gazebo using SDF (Simulation Description Format).

SDF Files​

SDF is an XML-based format for describing robot models and environments.

Example World File​

<?xml version='1.0'?>
<sdf version='1.6'>
  <world name='default'>
    <include>
      <uri>model://ground_plane</uri>
    </include>
    <include>
      <uri>model://sun</uri>
    </include>
  </world>
</sdf>

Best Practices​

  • Use proper coordinate frames
  • Version control your world files
  • Document model assumptions