This section is just to give you a quick overview of the simulation and visualization tools in ROS.

NOTE: This is only to give quick overview of what these terms are. There is a lot to explore and learn in each of the following sub-titles, and we strongly recommend you explore these further as you will perform the tasks. CAUTION: There might section showing up ROS 1 commands, make sure you clear up any doubts in forum before executing.

RViz

• Visualizing sensor information is an important part of developing and debugging controllers.
• Rviz is a powerful 3D visualization tool in ROS that will help you do it.
• It allows the user to view the simulated robot model, log sensor information from the robot's sensors, and replay the logged sensor information.

Reference

1. ROS Wiki: Rviz
2. Gazebo: Visualization and logging

Gazebo

• Robot simulation is an essential tool in every roboticist's toolbox.
• A robust physics engine, high-quality graphics, and the convenient programmatic and graphical interface make Gazebo a top choice for 3D Simulator.

.World File: This file is used to describe a collection of objects (such as buildings, tables, and lights), and global parameters including the sky, ambient light, and physics properties.

Reference

1. Gazebo tutorials

URDF