In this project, Penn State University Applied Research Laboratory (PSU/ARL) developed the Gazebo/ROS Testbed to enable the Advanced Explosive Ordnance Robotics System (AEODRS) testbed and its associated Capability Modules to utilize and interface with the open source Gazebo physics simulation environment. Using Gazebo provides many benefits to the AEODRS test bed. Gazebo is an open source software project widely used within academia and has a proven track record of robot system simulation in virtual environments through many government sponsored research programs such as the DARPA Robotics Challenge. Gazebo provides built-in support for sensor and manipulator simulation, both of which are necessary for the AEODRS test bed. In this work, the Robot Operating System (ROS) is used to bridge the AEODRS JAUS communication between CMs with the Gazebo simulator.