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.
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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.
Choosing and Tuning Gazebo’s Physics Engine for Realistic Robot Simulations
Learn how to choose and tune Gazebo’s physics engines—ODE, Bullet, DART, Simbody—to balance speed, realism, and stability. A practical example, trade‑offs, and validation steps are included.
gazeboTuning Joint PID Controllers in Gazebo for Stable Robot Motion
Learn how to implement and tune PID controllers in Gazebo to eliminate joint jitter and achieve stable robot motion using SDF plugins and ROS 2.
Your Gazebo World Is Slow — Start With the Physics Engine, Not the Hardware
A slow Gazebo world usually means physics is eating your CPU. Here's how to treat the physics engine as a real engineering decision — and benchmark it properly.