diff --git a/mkdocs.yml b/mkdocs.yml
index ef4cb1c..414de62 100644
--- a/mkdocs.yml
+++ b/mkdocs.yml
@@ -117,7 +117,6 @@ nav:
     - Overview: ./ros1/README.md
     - Basics:
       - Getting Started: ./ros1/getting_started.md
-      - Gazebo Basics:  ./ros1/gazebo_basics.md
       - Teleoperating Stretch: ./ros1/teleoperating_stretch.md
       - Internal State of Stretch: ./ros1/internal_state_of_stretch.md
       - RViz Basics: ./ros1/rviz_basics.md
@@ -128,6 +127,7 @@ nav:
       - ArUco Marker Detection: ./ros1/aruco_marker_detection.md
       - ReSpeaker Microphone Array: ./ros1/respeaker_microphone_array.md
       - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
+      - Gazebo Basics:  ./ros1/gazebo_basics.md
     - Other Examples:
       - Teleoperate Stretch with a Node: ./ros1/example_1.md
       - Filter Laser Scans: ./ros1/example_2.md
@@ -146,7 +146,6 @@ nav:
     - Overview: ./ros2/README.md
     - Basics:
       - Getting Started: ./ros2/getting_started.md
-      - Gazebo Basics:  ./ros2/gazebo_basics.md
       - Teleoperating Stretch: ./ros2/teleoperating_stretch.md
       - Internal State of Stretch: ./ros2/internal_state_of_stretch.md
       - RViz Basics: ./ros2/rviz_basics.md
@@ -162,6 +161,7 @@ nav:
       # - FUNMAP: https://github.com/hello-robot/stretch_ros/tree/master/stretch_funmap
       # - ROS testing: ./ros2/ros_testing.md
       # - Other Nav Stack Features: ./ros2/other_nav_features.md
+      - Gazebo Basics:  ./ros2/gazebo_basics.md
     - Other Examples:
       - Teleoperate Stretch with a Node: ./ros2/example_1.md
       - Filter Laser Scans: ./ros2/example_2.md
diff --git a/ros1/getting_started.md b/ros1/getting_started.md
index 1da3d63..6f219e5 100644
--- a/ros1/getting_started.md
+++ b/ros1/getting_started.md
@@ -23,4 +23,6 @@ Although lower specifications might be sufficient, for the best experience we re
 ### Setup
 Hello Robot is currently running Stretch on Ubuntu 20.04 and ROS Noetic. To begin the setup, follow the [Run the new robot installation script](https://github.com/hello-robot/stretch_install/blob/master/docs/robot_install.md#run-the-new-robot-installation-script) on your system.
 
-Finally, follow the [Creating a new ROS workspace](https://github.com/hello-robot/stretch_install/blob/master/docs/ros_workspace.md) guide to create a fresh catkin workspace complete with all the dependencies.
\ No newline at end of file
+Finally, follow the [Creating a new ROS workspace](https://github.com/hello-robot/stretch_install/blob/master/docs/ros_workspace.md) guide to create a fresh catkin workspace complete with all the dependencies.
+
+To begin working with a simulated Stretch, follow the [Gazebo basics](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1_melodic/gazebo_basics/) tutorial.
\ No newline at end of file
diff --git a/ros2/getting_started.md b/ros2/getting_started.md
index 31ebd70..f718584 100644
--- a/ros2/getting_started.md
+++ b/ros2/getting_started.md
@@ -3,7 +3,7 @@
 **NOTE**: ROS 2 tutorials are still under active development. 
 
 ## Prerequisites
-1. A Stretch robot (see below for simulation instructions if you don’t have a robot)
+1. A Stretch robot
 2. Follow the [Getting Started]() guide (hello_robot_xbox_teleop must not be running in the background)
 3. Interacting with Linux through the [command line](https://ubuntu.com/tutorials/command-line-for-beginners#1-overview)
 4. Basic understanding of [ROS](http://wiki.ros.org/ROS/Tutorials)
@@ -12,7 +12,7 @@
 ### Connecting a Monitor
 If you cannot access the robot through ssh due to your network settings, you will need to connect an HDMI monitor, USB keyboard, and mouse to the USB ports in the robot's trunk.
 
-## Setting Up Stretch in Simulation
+<!-- ## Setting Up Stretch in Simulation
 Users who don’t have a Stretch, but want to try the tutorials can set up their computer with Stretch Gazebo.
 
 Although lower specifications might be sufficient, for the best experience we recommend the following for running the simulation:
@@ -27,3 +27,4 @@ Hello Robot is currently running Stretch on Ubuntu 20.04 and ROS 2 Galactic. To
 
 Finally, follow the [Creating a new ROS workspace](https://github.com/hello-robot/stretch_install/blob/master/docs/ros_workspace.md) guide to create a fresh catkin workspace complete with all the dependencies.
 
+To begin working with a simulated Stretch, follow the [Gazebo basics](https://docs.hello-robot.com/0.2/stretch-tutorials/ros1_melodic/gazebo_basics/) tutorial. -->