  Testing robotic and cyberphysical systems in simulation require
specifications of the simulated environments (i.e., scenes). The Scenic
domain-specific language provides a high-level probabilistic programming
language that allows users to specify scenarios for simulation. Scenic
automatically generates concrete scenes that can be rendered by simulators.
However, Scenic is mainly designed for autonomous vehicle simulation and does
not support the most popular general-purpose simulator: Gazebo. In this work,
we present GzScenic; a tool that automatically generates scenes for simulation
in Gazebo. GzScenic automatically generates both the models required for
running Scenic on the scenarios, and the models that Gazebo requires for
running the simulation.
