Simulation Engineering with ROS, MoveIt, and Gazebo for Robot Arms


This tutorial aims to streamline the transfer of your robot to simulation and will provide step-by-step instructions for turning a robot arm CAD model to a Gazebo simulation that can be controlled with MoveIt/ROS.


  • ROS installed and setup (If you don’t have ROS setup, see here)
  • Understanding of how ROS works, navigating the file structure, basic commands, etc
  • A CAD model of the robot arm

Exporting your CAD model to URDF