# Stretch2 - Gazebo + MoveIt?

**URL:** <https://forum.hello-robot.com/t/stretch2-gazebo-moveit/787>\
**Category:** Ask\
**Created:** [August 18, 2023, 4:04pm UTC](https://forum.hello-robot.com/t/stretch2-gazebo-moveit/787 "2023-08-18T16:04:43Z")\
**Posts on this page:** 1\
**Showing post:** 6

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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:** [February 12, 2025, 8:17pm UTC](https://forum.hello-robot.com/t/stretch2-gazebo-moveit/787/6 "2025-02-12T20:17:42Z")

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Hey @allib, welcome to the Stretch community! So in ROS1 Melodic, the Gazebo simulation came with a MoveIt configuration that enabled simulated use of MoveIt1. We deprecated Melodic a while ago, but if motivated, you can install Ubuntu 18.04, set up [Stretch ROS1 for Melodic](https://github.com/hello-robot/stretch_ros/tree/melodic), and use the simulator with MoveIt.

Recently (in Jan 2025), support for the last ROS1 distribution, Noetic, was deprecated. With ROS2, I’d point you to try out [Samuel’s implementation](https://forum.hello-robot.com/t/porting-gazebo-to-ros2/849/18) of an Ignition simulation for Stretch. Gazebo Ignition has replaced the Gazebo classic simulator from ROS1.

Also, if you’re getting started on Stretch hardware, I recommend going through the [Getting Started tutorials](https://docs.hello-robot.com/0.3/getting_started/hello_robot/).

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