# Stretch Gazebo simulation

**URL:** <https://forum.hello-robot.com/t/stretch-gazebo-simulation/275>\
**Category:** Ask\
**Created:** [August 5, 2021, 7:05pm UTC](https://forum.hello-robot.com/t/stretch-gazebo-simulation/275 "2021-08-05T19:05:14Z")\
**Posts on this page:** 4\
**Page:** 1

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**Author:** ![jiawei\_li](https://avatars.discourse-cdn.com/v4/letter/j/3da27b/32.png) [@jiawei\_li](https://forum.hello-robot.com/u/jiawei_li)\
**Post date:** [August 5, 2021, 7:05pm UTC](https://forum.hello-robot.com/t/stretch-gazebo-simulation/275/1 "2021-08-05T19:05:14Z")

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Hi!

Recently I would like to play around with stretch’s gazebo simulation. However, after following the instruction and pulling all git repos, when I tried to run “roslaunch stretch\_gazebo gazebo.launch rviz:=true”, the following errors occurred.

Regards,

Li

 ![Screenshot from 2021-08-05 15-04-27](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/5e741b6b0ea335eb189e71c21c22226a69e28ab6.png)

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**Author:** ![jiawei\_li](https://avatars.discourse-cdn.com/v4/letter/j/3da27b/32.png) [@jiawei\_li](https://forum.hello-robot.com/u/jiawei_li)\
**Post date:** [August 5, 2021, 9:57pm UTC](https://forum.hello-robot.com/t/stretch-gazebo-simulation/275/2 "2021-08-05T21:57:56Z")

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So I’ve found out the issue is related to this command “rosdep install --from-paths src --ignore-src -r -y”. There are so dependencies which fail to be installed.

 ![Screenshot from 2021-08-05 17-55-35](https://canada1.discourse-cdn.com/flex030/uploads/hello_robot2/original/1X/a9bcfced61abbaae6d420c65d54203935d5e8808.png)

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**Author:** ![bshah](https://yyz2.discourse-cdn.com/flex030/user_avatar/forum.hello-robot.com/bshah/32/55_2.png) [@bshah](https://forum.hello-robot.com/u/bshah)\
**Post date:** [August 6, 2021, 1:44pm UTC](https://forum.hello-robot.com/t/stretch-gazebo-simulation/275/3 "2021-08-06T13:44:37Z")

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Hi @jiawei_li, could you run `sudo apt update` before running `rosdep install --from-paths src --ignore-src -r -y` and confirm that you don’t see the expired key issue described in [Expired ROS GPG key & new RealSense APT repo](https://forum.hello-robot.com/t/expired-ros-gpg-key-new-realsense-apt-repo/205).

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**Author:** ![jiawei\_li](https://avatars.discourse-cdn.com/v4/letter/j/3da27b/32.png) [@jiawei\_li](https://forum.hello-robot.com/u/jiawei_li)\
**Post date:** [August 6, 2021, 8:11pm UTC](https://forum.hello-robot.com/t/stretch-gazebo-simulation/275/4 "2021-08-06T20:11:38Z")

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Hi @bshah. Thanks for your solution and it does solve the issue!