diff --git a/.travis.yml b/.travis.yml
index df41d762e..870b91926 100644
--- a/.travis.yml
+++ b/.travis.yml
@@ -19,6 +19,7 @@ env:
   - HUB_REPO=ros    HUB_RELEASE=kinetic HUB_OS_NAME=debian HUB_OS_CODE_NAME=jessie
   - HUB_REPO=ros    HUB_RELEASE=indigo  HUB_OS_NAME=ubuntu HUB_OS_CODE_NAME=trusty
   # gazebo
+  - HUB_REPO=gazebo HUB_RELEASE=9       HUB_OS_NAME=ubuntu HUB_OS_CODE_NAME=xenial
   - HUB_REPO=gazebo HUB_RELEASE=8       HUB_OS_NAME=ubuntu HUB_OS_CODE_NAME=xenial
   - HUB_REPO=gazebo HUB_RELEASE=7       HUB_OS_NAME=ubuntu HUB_OS_CODE_NAME=xenial
   - HUB_REPO=gazebo HUB_RELEASE=6       HUB_OS_NAME=ubuntu HUB_OS_CODE_NAME=trusty
diff --git a/gazebo/9/ubuntu/xenial/Makefile b/gazebo/9/ubuntu/xenial/Makefile
new file mode 100644
index 000000000..eaa3fa8ed
--- /dev/null
+++ b/gazebo/9/ubuntu/xenial/Makefile
@@ -0,0 +1,28 @@
+all: help
+
+help:
+	@echo ""
+	@echo "-- Help Menu"
+	@echo ""
+	@echo "   1. make build            - build all images"
+	@echo "   2. make pull             - pull all images"
+	@echo "   3. make clean            - remove all images"
+	@echo ""
+
+build:
+	@docker build --tag=gazebo:gzserver9	gzserver9/.
+	@docker build --tag=gazebo:libgazebo9	libgazebo9/.
+	# @docker build --tag=gazebo:gzclient9	gzclient9/.
+	# @docker build --tag=gazebo:gzweb9			gzweb9/.
+
+pull:
+	@docker pull gazebo:libgazebo9
+	@docker pull gazebo:gzserver9
+	# @docker pull gazebo:gzclient9
+	# @docker pull gazebo:gzweb9
+
+clean:
+	@docker rmi -f gazebo:libgazebo9
+	@docker rmi -f gazebo:gzserver9
+	# @docker rmi -f gazebo:gzclient9
+	# @docker rmi -f gazebo:gzweb9
diff --git a/gazebo/9/ubuntu/xenial/gzclient9/Dockerfile b/gazebo/9/ubuntu/xenial/gzclient9/Dockerfile
new file mode 100644
index 000000000..c8e56dd68
--- /dev/null
+++ b/gazebo/9/ubuntu/xenial/gzclient9/Dockerfile
@@ -0,0 +1,16 @@
+# This is an auto generated Dockerfile for gazebo:gzclient9
+# generated from docker_images/create_gzclient_image.Dockerfile.em
+FROM gazebo:gzserver9
+
+# install packages
+RUN apt-get update && apt-get install -q -y \
+    binutils \
+    mesa-utils \
+    module-init-tools \
+    x-window-system\
+    && rm -rf /var/lib/apt/lists/*
+
+# install gazebo packages
+RUN apt-get update && apt-get install -q -y \
+    gazebo9=9.0.0-1* \
+    && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/9/ubuntu/xenial/gzserver9/Dockerfile b/gazebo/9/ubuntu/xenial/gzserver9/Dockerfile
new file mode 100644
index 000000000..c68a6e0f3
--- /dev/null
+++ b/gazebo/9/ubuntu/xenial/gzserver9/Dockerfile
@@ -0,0 +1,25 @@
+# This is an auto generated Dockerfile for gazebo:gzserver9
+# generated from docker_images/create_gzserver_image.Dockerfile.em
+FROM ubuntu:xenial
+
+# setup keys
+RUN apt-key adv --keyserver hkp://keyserver.ubuntu.com:80 --recv-keys D2486D2DD83DB69272AFE98867170598AF249743
+
+# setup sources.list
+RUN . /etc/os-release \
+    && . /etc/lsb-release \
+    && echo "deb http://packages.osrfoundation.org/gazebo/$ID-stable $DISTRIB_CODENAME main" > /etc/apt/sources.list.d/gazebo-latest.list
+
+# install gazebo packages
+RUN apt-get update && apt-get install -q -y \
+    gazebo9=9.0.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# setup environment
+EXPOSE 11345
+
+# setup entrypoint
+COPY ./gzserver_entrypoint.sh /
+
+ENTRYPOINT ["/gzserver_entrypoint.sh"]
+CMD ["gzserver"]
diff --git a/gazebo/9/ubuntu/xenial/gzserver9/gzserver_entrypoint.sh b/gazebo/9/ubuntu/xenial/gzserver9/gzserver_entrypoint.sh
new file mode 100755
index 000000000..3fd666867
--- /dev/null
+++ b/gazebo/9/ubuntu/xenial/gzserver9/gzserver_entrypoint.sh
@@ -0,0 +1,6 @@
+#!/bin/bash
+set -e
+
+# setup gazebo environment
+source "/usr/share/gazebo/setup.sh"
+exec "$@"
diff --git a/gazebo/9/ubuntu/xenial/gzweb9/Dockerfile b/gazebo/9/ubuntu/xenial/gzweb9/Dockerfile
new file mode 100644
index 000000000..be76f97af
--- /dev/null
+++ b/gazebo/9/ubuntu/xenial/gzweb9/Dockerfile
@@ -0,0 +1,42 @@
+# This is an auto generated Dockerfile for gazebo:gzweb9
+# generated from docker_images/create_gzweb_image.Dockerfile.em
+FROM gazebo:libgazebo9
+
+# install packages
+RUN apt-get update && apt-get install -q -y \
+    build-essential \
+    cmake \
+    imagemagick \
+    libboost-all-dev \
+    libgts-dev \
+    libjansson-dev \
+    libtinyxml-dev \
+    mercurial \
+    nodejs \
+    nodejs-legacy \
+    npm \
+    pkg-config \
+    psmisc \
+    xvfb\
+    && rm -rf /var/lib/apt/lists/*
+
+# install gazebo packages
+RUN apt-get update && apt-get install -q -y \
+    libgazebo9-dev=9.0.0-1* \
+    && rm -rf /var/lib/apt/lists/*
+
+# clone gzweb
+ENV GZWEB_WS /root/gzweb
+RUN hg clone https://bitbucket.org/osrf/gzweb $GZWEB_WS
+WORKDIR $GZWEB_WS
+
+# build gzweb
+RUN hg up default \
+    && xvfb-run -s "-screen 0 1280x1024x24" ./deploy.sh -m -t
+
+# setup environment
+EXPOSE 8080
+EXPOSE 7681
+
+# run gzserver and gzweb
+CMD gzserver --verbose & npm start
diff --git a/gazebo/9/ubuntu/xenial/images.yaml.em b/gazebo/9/ubuntu/xenial/images.yaml.em
new file mode 100644
index 000000000..ca831d2ac
--- /dev/null
+++ b/gazebo/9/ubuntu/xenial/images.yaml.em
@@ -0,0 +1,57 @@
+%YAML 1.1
+# Gazebo Dockerfile database
+---
+images:
+    gzserver@(gazebo_version):
+        base_image: @(os_name):@(os_code_name)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_gzserver_image.Dockerfile.em
+        entrypoint_name: docker_images/gzserver_entrypoint.sh
+        template_packages:
+            - docker_templates
+        gazebo_packages:
+            - gazebo@(gazebo_version)
+    libgazebo@(gazebo_version):
+        base_image: @(user_name):gzserver@(gazebo_version)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_gzclient_image.Dockerfile.em
+        template_packages:
+            - docker_templates
+        gazebo_packages:
+            - libgazebo@(gazebo_version)-dev
+    gzweb@(gazebo_version):
+        base_image: @(user_name):libgazebo@(gazebo_version)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_gzweb_image.Dockerfile.em
+        template_packages:
+            - docker_templates
+        packages:
+            - build-essential
+            - cmake
+            - imagemagick
+            - libboost-all-dev
+            - libgts-dev
+            - libjansson-dev
+            - libtinyxml-dev
+            - mercurial
+            - nodejs
+            - nodejs-legacy
+            - npm
+            - pkg-config
+            - psmisc
+            - xvfb
+        gazebo_packages:
+            - libgazebo@(gazebo_version)-dev
+    gzclient@(gazebo_version):
+        base_image: @(user_name):gzserver@(gazebo_version)
+        maintainer_name: @(maintainer_name)
+        template_name: docker_images/create_gzclient_image.Dockerfile.em
+        template_packages:
+            - docker_templates
+        packages:
+            - binutils
+            - mesa-utils
+            - module-init-tools
+            - x-window-system
+        gazebo_packages:
+            - gazebo@(gazebo_version)
diff --git a/gazebo/9/ubuntu/xenial/libgazebo9/Dockerfile b/gazebo/9/ubuntu/xenial/libgazebo9/Dockerfile
new file mode 100644
index 000000000..c5b027917
--- /dev/null
+++ b/gazebo/9/ubuntu/xenial/libgazebo9/Dockerfile
@@ -0,0 +1,7 @@
+# This is an auto generated Dockerfile for gazebo:libgazebo9
+# generated from docker_images/create_gzclient_image.Dockerfile.em
+FROM gazebo:gzserver9
+# install gazebo packages
+RUN apt-get update && apt-get install -q -y \
+    libgazebo9-dev=9.0.0-1* \
+    && rm -rf /var/lib/apt/lists/*
diff --git a/gazebo/9/ubuntu/xenial/platform.yaml b/gazebo/9/ubuntu/xenial/platform.yaml
new file mode 100644
index 000000000..be478bab1
--- /dev/null
+++ b/gazebo/9/ubuntu/xenial/platform.yaml
@@ -0,0 +1,13 @@
+%YAML 1.1
+# Gazebo Dockerfile database
+---
+platform:
+    os_name: ubuntu
+    os_code_name: xenial
+    gazebo_version: 9
+    user_name: gazebo
+    maintainer_name:
+    arch: amd64
+    type: distribution
+    version:
+    release: stable
diff --git a/gazebo/gazebo b/gazebo/gazebo
index cc0395752..8c5809576 100644
--- a/gazebo/gazebo
+++ b/gazebo/gazebo
@@ -7,12 +7,12 @@ GitRepo: https://github.com/osrf/docker_images.git
 ########################################
 # Distro: ubuntu:trusty
 
-Tags: gzserver4
+Tags: gzserver4, gzserver4-trusty
 Architectures: amd64
 GitCommit: 4459e46b70e082d0662237e1c62ea26cdcd8ee2c
 Directory: gazebo/4/ubuntu/trusty/gzserver4
 
-Tags: libgazebo4
+Tags: libgazebo4, libgazebo4-trusty
 Architectures: amd64
 GitCommit: 4459e46b70e082d0662237e1c62ea26cdcd8ee2c
 Directory: gazebo/4/ubuntu/trusty/libgazebo4
@@ -24,12 +24,12 @@ Directory: gazebo/4/ubuntu/trusty/libgazebo4
 ########################################
 # Distro: ubuntu:trusty
 
-Tags: gzserver5
+Tags: gzserver5, gzserver5-trusty
 Architectures: amd64
 GitCommit: abba58d1fce0d00aa2a667917b3367142719e61c
 Directory: gazebo/5/ubuntu/trusty/gzserver5
 
-Tags: libgazebo5
+Tags: libgazebo5, libgazebo5-trusty
 Architectures: amd64
 GitCommit: abba58d1fce0d00aa2a667917b3367142719e61c
 Directory: gazebo/5/ubuntu/trusty/libgazebo5
@@ -41,12 +41,12 @@ Directory: gazebo/5/ubuntu/trusty/libgazebo5
 ########################################
 # Distro: ubuntu:trusty
 
-Tags: gzserver6
+Tags: gzserver6, gzserver6-trusty
 Architectures: amd64
 GitCommit: 039483e1c90f52df528381de9d495679c412e84f
 Directory: gazebo/6/ubuntu/trusty/gzserver6
 
-Tags: libgazebo6
+Tags: libgazebo6, libgazebo6-trusty
 Architectures: amd64
 GitCommit: 039483e1c90f52df528381de9d495679c412e84f
 Directory: gazebo/6/ubuntu/trusty/libgazebo6
@@ -58,12 +58,12 @@ Directory: gazebo/6/ubuntu/trusty/libgazebo6
 ########################################
 # Distro: ubuntu:xenial
 
-Tags: gzserver7
+Tags: gzserver7, gzserver7-xenial
 Architectures: amd64
 GitCommit: b593ba3dafc4ab63b424bd2dc39d0f4e6710ea6e
 Directory: gazebo/7/ubuntu/xenial/gzserver7
 
-Tags: libgazebo7
+Tags: libgazebo7, libgazebo7-xenial
 Architectures: amd64
 GitCommit: b593ba3dafc4ab63b424bd2dc39d0f4e6710ea6e
 Directory: gazebo/7/ubuntu/xenial/libgazebo7
@@ -75,13 +75,30 @@ Directory: gazebo/7/ubuntu/xenial/libgazebo7
 ########################################
 # Distro: ubuntu:xenial
 
-Tags: gzserver8
+Tags: gzserver8, gzserver8-xenial
 Architectures: amd64
 GitCommit: 413df81c5f25236563fda9505c89a84f18448132
 Directory: gazebo/8/ubuntu/xenial/gzserver8
 
-Tags: libgazebo8, latest
+Tags: libgazebo8, libgazebo8-xenial
 Architectures: amd64
 GitCommit: 413df81c5f25236563fda9505c89a84f18448132
 Directory: gazebo/8/ubuntu/xenial/libgazebo8
 
+
+################################################################################
+# Release: 9
+
+########################################
+# Distro: ubuntu:xenial
+
+Tags: gzserver9, gzserver9-xenial
+Architectures: amd64
+GitCommit: b8deb76898b59e0d43518f2cbdca6c90afc1debe
+Directory: gazebo/9/ubuntu/xenial/gzserver8
+
+Tags: libgazebo9, libgazebo9-xenial, latest
+Architectures: amd64
+GitCommit: b8deb76898b59e0d43518f2cbdca6c90afc1debe
+Directory: gazebo/9/ubuntu/xenial/libgazebo8
+
diff --git a/gazebo/manifest.yaml b/gazebo/manifest.yaml
index 30c755a33..697812cde 100644
--- a/gazebo/manifest.yaml
+++ b/gazebo/manifest.yaml
@@ -27,9 +27,11 @@ release_names:
                             gzserver4:
                                 aliases:
                                     - "gzserver4"
+                                    - "gzserver4-$os_code_name"
                             libgazebo4:
                                 aliases:
                                     - "libgazebo4"
+                                    - "libgazebo4-$os_code_name"
     '5':
         eol: 2017-01-25
         os_names:
@@ -43,9 +45,11 @@ release_names:
                             gzserver5:
                                 aliases:
                                     - "gzserver5"
+                                    - "gzserver5-$os_code_name"
                             libgazebo5:
                                 aliases:
                                     - "libgazebo5"
+                                    - "libgazebo5-$os_code_name"
     '6':
         eol: 2017-01-25
         os_names:
@@ -59,9 +63,11 @@ release_names:
                             gzserver6:
                                 aliases:
                                     - "gzserver6"
+                                    - "gzserver6-$os_code_name"
                             libgazebo6:
                                 aliases:
                                     - "libgazebo6"
+                                    - "libgazebo6-$os_code_name"
     '7':
         eol: 2021-01-25
         os_names:
@@ -75,9 +81,11 @@ release_names:
                             gzserver7:
                                 aliases:
                                     - "gzserver7"
+                                    - "gzserver7-$os_code_name"
                             libgazebo7:
                                 aliases:
                                     - "libgazebo7"
+                                    - "libgazebo7-$os_code_name"
     '8':
         eol: 2019-01-25
         os_names:
@@ -91,9 +99,29 @@ release_names:
                             gzserver8:
                                 aliases:
                                     - "gzserver8"
+                                    - "gzserver8-$os_code_name"
                             libgazebo8:
                                 aliases:
                                     - "libgazebo8"
+                                    - "libgazebo8-$os_code_name"
+    '9':
+        eol: 2023-01-25
+        os_names:
+            ubuntu:
+                os_code_names:
+                    xenial:
+                        <<: *DEFAULT
+                        archs:
+                            - amd64
+                        tag_names:
+                            gzserver8:
+                                aliases:
+                                    - "gzserver9"
+                                    - "gzserver9-$os_code_name"
+                            libgazebo8:
+                                aliases:
+                                    - "libgazebo9"
+                                    - "libgazebo9-$os_code_name"
                                     - latest
 
 meta: