Choosing Bullet Physics in Gazebo for Faster Rigid‑Body Simulation
Learn how to switch Gazebo’s physics engine to Bullet, tune its solver, and verify that your simulation stays accurate while gaining speed.
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ODE or Bullet in Gazebo 13.x when reproducibility and accuracy conflict
Scenario I am setting up a Gazebo 13.x simulation pipeline where a world repeatedly spawns and deletes high-poly models during long runs. I need to pick a physics engine and configure the real-time factor, but the documented trade-offs leave me without a clear choice. Constraints ODE is the default and gives deterministic behavior, which matters because our
gazeboWhich physics engine should Gazebo use by default for real‑time simulation?
Goal: Identify the physics engine that should be set as Gazebo’s default so that typical simulations maintain a real‑time factor (RTF) of at least 1.0 without sacrificing numerical stability in multi‑body contact scenarios. Constraint: RTF measurements can be inflated by GUI rendering, making headless execution preferable for isolating physics bottlenecks, a