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Developer tools · #gazebo
A concise architecture note on using gazebo_ros2_control to bridge ROS 2 controllers with Gazebo simulation, covering requirements, minimal design, boundaries, checks, failures, and redesign triggers.
Stop your Gazebo robots from jittering or flying away. Learn how to optimize ODE physics by balancing mass ratios, using collision primitives, and tuning step sizes.
Learn how Gazebo’s publish‑subscribe transport works, where its trust boundaries lie, and what operational checks and failure modes to watch for when building or extending simulations.
Learn how to eliminate simulation jitter in Gazebo by tuning ODE physics parameters and optimizing collision hulls for better stability and performance.
Learn how to add realistic sensor data to Gazebo simulations by writing a custom sensor plugin that publishes ROS 2 topics, with a worked example, performance notes, and verification steps.
Build, declare, and verify a custom Gazebo sensor plugin as a shared library — with a concrete SDF example, load-failure diagnosis table, and a negative test to prove your checks work.
Learn how to expose robot hardware interfaces in Gazebo Harmonic via the gazebo_ros2_control plugin, load standard ros2_control controllers, and verify simulation fidelity.
In my development workstation I compile a Gazebo model plugin and run a world file that uses it; the plugin initializes without errors and the simulation behaves as expected. When I package the same compiled plugin and world file into a production container (using the same Gazebo version and base image), Gazebo starts but the plugin fails to load, producing