Lock Gazebo's Physics Clock for Repeatable Robot Tests
Control how Gazebo advances simulation time so robot control-loop tests produce repeatable results across different machines.
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Gazebo ModelPlugin Architecture: Injecting Custom C++ Logic into Simulated Robots
ModelPlugins let you run custom C++ logic inside Gazebo's simulation loop. This guide covers the Load/Init/Update lifecycle, a differential-drive plugin example, and trade‑offs versus ROS 2 control — including ABI version locking, joint authority conflicts, and Transport topic mismatches.
Spawning a Custom URDF Model in Gazebo with the ROS 2 spawn_entity Service
Learn how to load a custom URDF robot into Gazebo Classic using the ROS 2 /spawn_entity service, including prerequisites, the exact service call, verification steps, and recovery options for common mesh and naming failures.
Building a Gazebo System Plugin for Multi‑Robot Coordination
Learn how a Gazebo System plugin can coordinate multiple robots more efficiently than per‑model plugins, with a complete build‑and‑run example and performance tips.
In-Process Plugin or External Controller? Running Robot Logic in Gazebo Sim
Decide whether to load a C++ system plugin into Gazebo Sim or drive your robot from an external process over Gazebo transport, with headless CI in mind.
Selecting and Tuning Physics Engines for Contact-Rich Gazebo Simulations
A decision guide for choosing and tuning Gazebo physics engines (ODE, Bullet, DART, Simbody) to resolve jitter and instability in contact-rich robot simulations.
Choosing and Configuring Gazebo’s Physics Engine: ODE, Bullet, Simbody, or DART
Select the right Gazebo physics engine—ODE, Bullet, Simbody, or DART—by editing the SDF <code><physics></code> block. Learn how each engine differs, how to tune key parameters, and common pitfalls to avoid for realistic, high‑performance robot simulations.
Streaming RGB from Gazebo’s Built‑In Camera to ROS2: A Practical Guide
Gazebo’s native camera sensor can publish RGB images directly to ROS2, eliminating custom plugins. This guide walks through wiring a UR5 robot’s camera to a ROS2 node, highlights trade‑offs, and offers a quick checklist to keep your simulation real‑time.
Simulating Robot Manipulators with ros2_control in Gazebo: A Practical Integration Guide
Wiring ros2_control into Gazebo lets you command simulated manipulators with standard ROS 2 controllers. This post walks through the plugin architecture, a minimal two-link arm example, version compatibility, and the three most common misconfiguration traps.