CPR Gazebo is an open-source collection of Gazebo simulation environments built specifically for Clearpath Robotics robot platforms. Whether you are developing autonomous navigation stacks, testing sensor fusion pipelines, or validating mission-critical behaviours before deploying hardware, CPR Gazebo gives you realistic, ready-to-use worlds without the overhead of building them from scratch. Each environment is packaged as a standard ROS package, integrates with a singleDocumentation Index
Fetch the complete documentation index at: https://mintlify.com/clearpathrobotics/cpr_gazebo/llms.txt
Use this file to discover all available pages before exploring further.
roslaunch command, and supports the full range of Clearpath platforms — from the compact Jackal to the heavy-duty Warthog. The project targets ROS Noetic and Gazebo 11 and is actively maintained by Clearpath Robotics.
CPR Gazebo targets the noetic-devel branch. Make sure you are on this branch when cloning the repository, as other branches may not be compatible with ROS Noetic or Gazebo 11.
Packages
CPR Gazebo is organised into eight ROS packages. Six packages provide complete simulation worlds; the remaining two supply shared accessories and road-building primitives used across worlds.cpr_agriculture_gazebo
A flat, outdoor world featuring a barn, fences, and a medium-sized solar farm — ideal for testing area coverage, agricultural autonomy, and GPS-based navigation.
cpr_inspection_gazebo
A hilly, outdoor world with a bridge, cave/mine entrance, water features, a small solar farm, and water pipes — designed for infrastructure inspection scenarios.
cpr_orchard_gazebo
A flat, outdoor world with several rows of small trees separated by dirt paths — well suited for row-crop navigation and precision agriculture research.
cpr_office_gazebo
Two variants of the same indoor office floor plan: a furnished office with hallways and meeting rooms, and a construction variant with walls reduced to bare studs and materials scattered on the floor.
cpr_obstacle_gazebo
An enclosed indoor world with non-planar ground geometry and configurable walls — useful for testing obstacle avoidance, terrain traversal, and cost-map behaviour.
cpr_empty_gazebo
A minimal world with no scenery, supporting all six Clearpath platforms. The perfect blank canvas for unit-testing robot models, sensor configurations, or custom world geometry.
cpr_race_modules
A library of modular concrete and dirt road segments that can be assembled into custom race tracks and test circuits — not a standalone world, but a building-block toolkit.
cpr_accessories_gazebo
Shared Gazebo models for Clearpath accessories such as the wireless charging dock and the base station, reused by other world packages.
Supported Robots
All six Clearpath platforms are supported across the collection, though not every platform is available in every world (for example, indoor-only platforms are not available in outdoor worlds). Refer to each world’s page for the exact list of supported robots.| Platform | Type | Typical Use |
|---|---|---|
| Husky | Outdoor UGV | The most common default across outdoor worlds; rugged all-terrain platform |
| Jackal | Outdoor UGV | Lightweight and fast; default platform for the Obstacle world |
| Warthog | Outdoor UGV | Large, heavy-duty amphibious platform for demanding terrain |
| Dingo | Indoor AGV | Compact indoor differential-drive or omnidirectional platform |
| Ridgeback | Indoor AGV | Large indoor omnidirectional platform for manipulation and logistics |
| Boxer | Indoor AGV | Rugged indoor logistics platform |
Dingo and Ridgeback are not available in the outdoor worlds (Agriculture, Inspection, Orchard). The Empty world supports all six platforms.
The CPR_GAZEBO_PLATFORM Environment Variable
Every world launch file reads the CPR_GAZEBO_PLATFORM environment variable to choose which robot to spawn when no explicit platform argument is provided. If the variable is not set, a size-appropriate default is used (typically husky for outdoor worlds, jackal for the Obstacle world).
platform:=<robot> on the command line. See the Installation page for how to add it to ~/.bashrc permanently.
ROS Version
CPR Gazebo targets ROS Noetic with Gazebo 11. The active development branch isnoetic-devel. All packages are at version 0.2.8 (released 2023-11-29).