Seeing is Believing

Theme: Seeing is Believing — this week we dive into RViz2 and Gazebo, where theory and code come alive through visualization and simulation.

Example GIF

Focus

  • Learn the difference between visualization (RViz2) and simulation (Gazebo).

  • Understand why robotics engineers simulate before building.

  • URDF Basics

  • Import 3D models

  • Robot visualization

  • Robot simulation

  • Map and World Building

Learning Flow

  1. Theory - Why simulation is critical in robotics. - Visualization vs. simulation. - Introduction to URDF (Unified Robot Description Format). - Digital twin concepts in robotics.

2. Practical / Code - Write a basic URDF for a simple robot.

  • Import 3D models into Gazebo.

  • Visualize frames, sensors, and trajectories in RViz2.

  • Move a robot in simulation and observe transforms + states in RViz.

  • Launch a robot simulation in Gazebo.

  • Create a simple custom world with obstacles and free space.

  • Launch a robot model in Gazebo.

  1. Assignment - Load a robot - Visualize sensors and coordinate frames in RViz2. - Write a short README explaining how simulation matches theory.

Takeaway

By the end of this week, students will understand how to move from robot descriptions (URDF) to visualization (RViz2) and simulation (Gazebo). They will be able to create simple robots, visualize their states, and place them in custom worlds — proving that in robotics, truly, Seeing is Believing.