<s>
Gazebo	B-Language
is	O
an	O
open-source	B-License
3D	O
robotics	B-Application
simulator	I-Application
.	O
</s>
<s>
It	O
integrated	O
the	O
ODE	B-Application
physics	O
engine	O
,	O
OpenGL	B-Application
rendering	O
,	O
and	O
support	O
code	O
for	O
sensor	O
simulation	O
and	O
actuator	O
control	O
.	O
</s>
<s>
Gazebo	B-Language
can	O
use	O
multiple	O
high-performance	O
physics	O
engines	O
,	O
such	O
as	O
ODE	B-Application
,	O
Bullet	B-Application
,	O
etc	O
.	O
</s>
<s>
(	O
the	O
default	O
is	O
ODE	B-Application
)	O
.	O
</s>
<s>
It	O
can	O
model	O
sensors	O
that	O
"	O
see	O
"	O
the	O
simulated	O
environment	O
,	O
such	O
as	O
laser	O
range	O
finders	O
,	O
cameras	O
(	O
including	O
wide-angle	O
)	O
,	O
Kinect	B-Algorithm
style	O
sensors	O
,	O
etc	O
.	O
</s>
<s>
For	O
3D	O
rendering	O
,	O
Gazebo	B-Language
uses	O
the	O
OGRE	B-Application
engine	O
.	O
</s>
<s>
Gazebo	B-Language
was	O
a	O
component	O
in	O
the	O
Player	B-Application
Project	I-Application
from	O
2004	O
through	O
2011	O
.	O
</s>
<s>
In	O
2011	O
,	O
Gazebo	B-Language
became	O
an	O
independent	O
project	O
supported	O
by	O
Willow	O
Garage	O
.	O
</s>
<s>
In	O
2012	O
,	O
Open	B-License
Source	I-License
Robotics	O
Foundation	O
(	O
OSRF	O
)	O
became	O
the	O
steward	O
of	O
the	O
Gazebo	B-Language
project	O
.	O
</s>
<s>
Gazebo	B-Language
's	O
latest	O
and	O
last	O
major	O
release	O
is	O
version	O
11	O
,	O
a	O
long-term	O
support	O
release	O
with	O
end-of-life	O
planned	O
for	O
January	O
2025	O
.	O
</s>
<s>
All	O
previously	O
released	O
versions	O
of	O
Gazebo	B-Language
also	O
received	O
long-term	O
support	O
,	O
with	O
minor	O
updates	O
being	O
released	O
for	O
Gazebo	B-Language
9	O
and	O
10	O
together	O
with	O
the	O
release	O
of	O
Gazebo	B-Language
11.0.0	O
.	O
</s>
<s>
With	O
Gazebo	B-Language
11	O
being	O
released	O
in	O
January	O
2020	O
,	O
Open	O
Robotics	O
shifted	O
its	O
focus	O
to	O
developing	O
Ignition	O
,	O
a	O
"	O
collection	O
of	O
open	B-License
source	I-License
software	B-Library
libraries	I-Library
designed	O
to	O
simplify	O
development	O
of	O
high-performance	O
applications	O
"	O
,	O
with	O
a	O
target	O
audience	O
of	O
robot	O
developers	O
,	O
designers	O
,	O
and	O
educators	O
.	O
</s>
<s>
Ignition	O
's	O
website	O
refers	O
to	O
the	O
standalone	O
Gazebo	B-Language
simulator	I-Language
as	O
Gazebo	B-Language
Classic	I-Language
in	O
order	O
to	O
disambiguate	O
it	O
from	O
Ignition	O
Gazebo	B-Language
,	O
the	O
Gazebo	B-Language
simulator	I-Language
that	O
is	O
now	O
included	O
in	O
the	O
latest	O
releases	O
of	O
Ignition	O
.	O
</s>
<s>
Open	O
Robotics	O
mentioned	O
the	O
need	O
for	O
significant	O
modernization	O
in	O
Gazebo	B-Language
's	O
code	O
,	O
together	O
with	O
the	O
opportunity	O
to	O
move	O
from	O
a	O
monolithic	O
architecture	O
to	O
a	O
collection	O
of	O
loosely	O
coupled	O
libraries	O
.	O
</s>
<s>
In	O
April	O
2022	O
it	O
was	O
announced	O
that	O
the	O
former	O
Ignition	O
is	O
now	O
called	O
Gazebo	B-Language
.	O
</s>
<s>
Gazebo	B-Language
has	O
been	O
used	O
as	O
the	O
simulation	O
environment	O
for	O
a	O
number	O
of	O
technology	O
challenges	O
and	O
competitions	O
.	O
</s>
<s>
The	O
National	O
Aeronautics	O
and	O
Space	O
Administration	O
(	O
NASA	O
)	O
Space	O
Robotics	O
Competition	O
tasks	O
teams	O
with	O
developing	O
and	O
displaying	O
the	O
ability	O
of	O
an	O
R5	O
(	O
Valkyrie	O
)	O
robot	O
to	O
assist	O
in	O
the	O
procedures	O
of	O
a	O
NASA	O
mission	O
,	O
such	O
as	O
one	O
to	O
Mars	B-Application
,	O
offering	O
a	O
$1	O
million	O
prize	O
pool	O
.	O
</s>
<s>
NASA	O
selected	O
20	O
finalist	O
teams	O
based	O
on	O
their	O
performance	O
completing	O
some	O
tasks	O
in	O
the	O
Gazebo	B-Language
3D	O
robot	B-Application
simulator	I-Application
,	O
and	O
each	O
of	O
those	O
finalists	O
had	O
to	O
program	O
a	O
Valkyrie	O
humanoid	O
to	O
complete	O
a	O
repair	O
mission	O
on	O
a	O
simulated	O
Mars	B-Application
base	O
.	O
</s>
<s>
Student	O
teams	O
will	O
operate	O
their	O
vehicle	O
in	O
a	O
Gazebo-based	O
simulation	O
environment	O
built	O
by	O
Open	O
Robotics	O
and	O
Naval	O
Postgraduate	O
School	O
.	O
</s>
