Gazebo Fortress

Gazebo Fortress, the successor to Gazebo Classic, brings modern features and improved performance while maintaining the familiar usability of its predecessor. It offers enhanced simulation capabilities, making it a strong contender for robotics testing. However, it also introduces some complexities compared to Gazebo Classic, especially for those migrating existing ROS 2 packages.

Key Features of Gazebo Fortress

  • Improved Graphics and High-Definition Simulation: Gazebo Fortress enhances the graphical fidelity over Classic, offering more immersive environments. While not as graphically detailed as Isaac Sim, Fortress strikes a balance between realism and performance.

  • Better Support for Dynamic Environments: Fortress introduces features like improved collision detection and smoother handling of dynamic objects, which are critical for testing algorithms involving moving obstacles.

  • Enhanced Plugin Ecosystem: A rich plugin ecosystem allows for better integration of sensors and actuators, providing more flexibility for robot developers.

  • Support for ROS 2 Packages: Migrating ROS 2 packages from Gazebo Classic to Fortress is relatively straightforward, thanks to the migration guide. However, some adaptation may be needed, especially for custom robots or environments.

Example: A Custom Four-Wheel Robot in Gazebo Fortress

Take a look at the GIF below, showcasing a custom four-wheel robot designed in Gazebo Fortress. The robot demonstrates how Fortress’s enhanced features allow for more detailed and accurate simulations of navigation and other robotic functions.

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Gazebo Fortress Custom Robot Design

Observations on Gazebo Fortress Environment

The Gazebo Fortress environment supports advanced features such as better collision detection and handling of dynamic obstacles. This makes it a suitable choice for testing algorithms in environments requiring higher fidelity than Gazebo Classic while maintaining a manageable computational load compared to Isaac Sim.

Observations and Trade-Offs

  • Performance vs. Graphics: While Gazebo Fortress improves graphical fidelity, it requires more processing power than Classic, though significantly less than Isaac Sim. This makes it a middle ground between the two platforms.

  • Dynamic Obstacle Handling: Fortress performs better than Classic in handling dynamic objects, making it suitable for navigation scenarios involving moving humans or obstacles. However, Isaac Sim still leads in dynamic crowd animation.

  • Learning Curve: For those already familiar with Gazebo Classic, transitioning to Fortress is manageable with the help of the migration guide. On the other hand, Isaac Sim’s steep learning curve might pose a challenge for newcomers.

Recommendation

Gazebo Fortress is ideal for those seeking a balance between performance, graphics, and usability. It is particularly well-suited for developers migrating from Gazebo Classic or those looking for advanced features without the heavy computational requirements of Isaac Sim.