Gazebo was started in 2002. After over 15 years of development it was time for a significant upgrade and modernization. This upgrade also provided the opportunity to move away from a monolithic architecture to a collection of loosely coupled libraries.
These collection of libraries make up the new Gazebo. As a convention we refer to older versions of Gazebo, those with release numbers like Gazebo 9 and Gazebo 11 as "Gazebo Classic". Newer versions of Gazebo, formerly called "Ignition", with lettered releases names like Harmonic, are referred to as just "Gazebo".
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Since the name of the project has gone through two major changes, we highly recommend you read the history of the project as well as our community post to have a better understanding of the terminology used on this website.
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Here you'll find guides and resources for migrating existing Gazebo Classic projects to the new Gazebo.
- Migrating ROS 2 packages that use Gazebo Classic
- Installing Gazebo11 side by side with new Gazebo
- Migration from Gazebo Classic: Plugins - Fortress | Harmonic
- Migration from Gazebo classic: SDF - Fortress | Harmonic
- Case study: migrating the ArduPilot ModelPlugin from Gazebo classic to Gazebo - Fortress | Harmonic
- Basic description of SDF worlds
- Feature Comparison with Gazebo Classic
- Documentation for ros_gz
- List of Systems (plugins): Fortress | Harmonic