# Integrating ROS 2 with Gazebo - Tutorial

**URL:** <https://discourse.openrobotics.org/t/integrating-ros-2-with-gazebo-tutorial/23118>\
**Category:** Projects\
**Created:** [November 15, 2021, 7:19pm UTC](https://discourse.openrobotics.org/t/integrating-ros-2-with-gazebo-tutorial/23118 "2021-11-15T19:19:31Z")\
**Posts on this page:** 5\
**Page:** 1

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**Author:** ![joshnewans](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/joshnewans/32/14191_2.png) [@joshnewans](https://discourse.openrobotics.org/u/joshnewans)\
**Post date:** [November 15, 2021, 7:19pm UTC](https://discourse.openrobotics.org/t/integrating-ros-2-with-gazebo-tutorial/23118/1 "2021-11-15T19:19:31Z")

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Hi everyone, I have recently posted another tutorial, this time on integrating ROS 2 with Gazebo.  
It turned out pretty long (and even then I had to skip over some stuff) but hopefully it covers the most important stuff for someone getting into this for the first time. Even if you’re already pretty experienced, you never know, you might pick something up!

The video is linked below, with a companion blog post available [here](https://articulatedrobotics.xyz/ready-for-ros-8-gazebo/).

[![](https://us1.discourse-cdn.com/flex022/uploads/ros/original/3X/a/1/a1ed6ed712d065e949870ff42ddbe675d10411ff.jpeg "Simulating Robots with Gazebo and ROS | Getting Ready to Build Robots with ROS #8") ](https://www.youtube.com/watch?v=laWn7_cj434)

As I mentioned in an earlier post, I’m now preparing a series on building a DIY autonomous platform (turtlebot-esque) so if you have any interest in that, please consider subscribing (or even building along with me). Also, if there are other topics that you think would be good for me to cover in the future, please let me know!

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**Author:** ![Katherine\_Scott](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/katherine_scott/32/4434_2.png) [@Katherine\_Scott](https://discourse.openrobotics.org/u/Katherine_Scott)\
**Post date:** [November 15, 2021, 7:23pm UTC](https://discourse.openrobotics.org/t/integrating-ros-2-with-gazebo-tutorial/23118/2 "2021-11-15T19:23:22Z")

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There are great and we really appreciate the effort! I went and posted this on the official Open Robotics Twitter and LinkedIn.

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**Author:** ![joshnewans](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/joshnewans/32/14191_2.png) [@joshnewans](https://discourse.openrobotics.org/u/joshnewans)\
**Post date:** [November 15, 2021, 8:20pm UTC](https://discourse.openrobotics.org/t/integrating-ros-2-with-gazebo-tutorial/23118/3 "2021-11-15T20:20:46Z")

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Thanks for sharing it!

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**Author:** ![Rick\_Armstrong](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/rick_armstrong/32/3449_2.png) [@Rick\_Armstrong](https://discourse.openrobotics.org/u/Rick_Armstrong)\
**Post date:** [November 17, 2021, 1:26am UTC](https://discourse.openrobotics.org/t/integrating-ros-2-with-gazebo-tutorial/23118/4 "2021-11-17T01:26:45Z")

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Great tutorial, thanks! Question: what are the “key plugins” that Ignition Gazebo is missing, in your opinion?

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**Author:** ![joshnewans](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/joshnewans/32/14191_2.png) [@joshnewans](https://discourse.openrobotics.org/u/joshnewans)\
**Post date:** [November 17, 2021, 5:58am UTC](https://discourse.openrobotics.org/t/integrating-ros-2-with-gazebo-tutorial/23118/5 "2021-11-17T05:58:46Z")

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Thanks Rick! I planned this out a while ago, and at the time (to the best of my knowledge) `gazebo_ros2_control` hadn’t been ported over yet, and I have some future tutorials that rely on it.

Having just taken another look [it does seem like it has since been ported](https://github.com/ignitionrobotics/ign_ros2_control/), so that leaves me in a bit of a pickle. I don’t think there’s a [binary/apt package](https://github.com/ros/rosdistro/blob/master/foxy/distribution.yaml) available though, and I’m trying to keep my tutorials reasonably beginner-friendly so I’ll stick with Gazebo for now, but I’ll try to keep a closer eye on things in case they change soon. (And I’ll try testing that repo myself - I’ve currently [got some issues](https://answers.ros.org/question/387856/sensor-synchronisation-bug-between-gazebo-and-ros2_control-with-diff_drive_controller/) with `gazebo_ros2_control` and it would be nice if they happen to disappear…)