User Guide for Gazebo Simulator

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Yes ! but they only provide the tutorials. There is no user guide available.

Everything you'll need to know about Gazebo is in the tutorials. There is no separate user's guide, but you'll find some of the tutorial pages read like a user's guide.

yes you are right but for eg. in tutorials when they taught to build a mobile robot, they wrote a code in which they mentioned revolute joints but they did not mention what are the other joints, what is syntax for them, etc. This is just one example among many. That is why I want better user guide.