Feature comparison

A list of features present in Gazebo-classic version 11 and the status of their migration to Ignition Citadel.

All the issues below are labeled with close the gap on GitHub.

Sensors

Sensor	Gazebo-classic	Gazebo Sim
Air pressure	✕	✓
Altimeter	✓	✓
Bounding Box camera	✕	✕ (available from Fortress)
Camera	✓	✓
Contact sensor	✓	✓
Depth camera	✓	✓
Force-torque	✓	✕ (available from Fortress)
GPS / NavSat	✓	✕ (available from Fortress)
GPU Ray	✓	✓ Renamed to GPU Lidar
IMU	✓	✓
Logical camera	✓	✓
Magnetometer	✓	✓
Multi-camera	✓	✕ Use individual cameras with same update rate
Ray	✓	Issue
RFID sensor and tag	✓	Issue
RGBD camera	✕	✓
Segmentation camera	✕	✕ (available from Fortress)
Sonar	✓	Issue
Thermal camera	✕	✓
Triggered camera	✕	✕ (available from Fortress)
Wide-angle camera	✓	✕ (available from Garden)
Wireless	✓	Issue

Sensor features	Gazebo-classic	Gazebo Sim
Custom update rate	✓	✓
Gaussian noise	✓	✓
Custom sensors	✓	✕ (available from Fortress)
Laser retroreflection	✓	✓
Camera distortion	✓	✕ (available from Fortress)
Performance metrics	✓	✓

SDF Features

Feature	Gazebo-classic	Gazebo Sim
SDF frame semantics	✓	✓
SDF parametrization	✕	✕ (available from Dome)
Load models from local files	✓	✓
Closed kinematic chains	✓	Issue
Nested models	✓	Partial support, fully available from Edifice
Populations	✓	Issue
Actors	✓	✓
Markers	✓	✓
Heightmaps	✓	✕ (Ogre 1 from Edifice, Ogre 2 from Fortress)
DEM (Digital Elevation Models)	✓	✕ (available from Garden)
Polylines	✓	✓
World plugins	✓	✓ Now called System plugin
Model plugins	✓	✓ Now called System plugin
Sensor plugins	✓	✓ Now called System plugin
Visual plugins	✓	✕ (available from Fortress)
GUI plugins	✓	✓ Ignition GUI plugins and Gazebo GUI systems
System plugins	✓	✓ Through Ignition Launch

Plugins

Model plugins

Plugin	Gazebo-classic	Gazebo Sim
ActorPlugin	✓	✕ See FollowActor for a demo of Actor APIs
ActuatorPlugin	✓
ArduCopterPlugin	✓
AttachLightPlugin	✓	✕ Does not apply, use SDF
Breadcrumbs	✕	✓
BuoyancyPlugin	✓	✓
CartDemoPlugin	✓	✕
CessnaPlugin	✓
DiffDrivePlugin	✓	✓
ElevatorPlugin	✓
FlashLightPlugin	✓
FollowerPlugin	✓
GimbalSmall2dPlugin	✓
GravityCompensationPlugin	✓
HarnessPlugin	✓
HydraDemoPlugin	✓
InitialVelocityPlugin	✓	✕ (available from Edifice)
JointControlPlugin	✓ (force / pos / vel, from SDF)	✓ (vel, from msg)
JointStatePublisher	✕	✓
JointTrajectoryPlugin	✓
KeysToCmdVelPlugin	✓	Use ignition::gui::KeyPublisher with ignition::gazebo::systems::TriggeredPublisher
KeysToJointsPlugin	✓	Use ignition::gui::KeyPublisher with ignition::gazebo::systems::TriggeredPublisher
LedPlugin	✓
LiftDragPlugin	✓	✓
LinearBatteryConsumerPlugin	✓	✓
LinearBatteryPlugin	✓	✓
LinkPlot3DPlugin	✓	✓ (renamed to Plot3D)
MudPlugin	✓
MulticopterMotorModel	✕	✓
PlaneDemoPlugin	✓
PosePublisher	✕	✓
RandomVelocityPlugin	✓
RegionEventBoxPlugin	✓
SimpleTrackedVehiclePlugin	✓	✓
SkidSteerDrivePlugin	✓	✓
SphereAtlasDemoPlugin	✓	✕
TouchPlugin	✓	✓
TrackedVehiclePlugin	✓	✓
VariableGearboxPlugin	✓
VehiclePlugin	✓
WheelSlipPlugin	✓	✓
WheelTrackedVehiclePlugin	✓	✓
KineticEnergyMonitor	✕	✓
Buoyancy engine	✕	✕ (available from Fortress)

World plugins

Plugin	Gazebo-classic	Gazebo Sim
ArrangePlugin	✓
ContainPlugin	✓	Partial port, Issue
HydraPlugin	✓
JoyPlugin	✓	✓ Migrated as an Ignition Launch plugin
MisalignmentPlugin	✓
RubblePlugin	✓
StaticMapPlugin	✓
TransporterPlugin	✓
WindPlugin	✓	✓

Sensor plugins

Plugin	Gazebo-classic	Gazebo Sim
BreakableJointPlugin	✓
CameraPlugin	✓	Issue
ContactPlugin	✓	✓
DepthCameraPlugin	✓	Issue
FiducialCameraPlugin	✓
ForceTorquePlugin	✓	Issue
GpuRayPlugin	✓	Issue
ImuSensorPlugin	✓	Issue
LensFlareSensorPlugin	✓
PressurePlugin	✓
RayPlugin	✓	Issue
RaySensorNoisePlugin	✓	✕ Use SDF
SonarPlugin	✓	Issue

Visual plugins

Plugin	Gazebo-classic	Gazebo Sim
AmbientOcclusionVisualPlugin	✓
BlinkVisualPlugin	✓
HeightmapLODPlugin	✓
ShaderParamVisualPlugin	✓	✕ (available from Fortress)

GUI plugins

Plugin	Gazebo-classic	Gazebo Sim
CessnaGUIPlugin	✓
KeyboardGUIPlugin	✓	ignition::gui::KeyPublisher
LookAtDemoPlugin	✓
TimerGUIPlugin	✓

System plugins

Plugin	Gazebo-classic	Gazebo Sim
ModelPropShop	✓	✕ (available from Edifice)
RestUiPlugin	✓
RestWebPlugin	✓
StopWorldPlugin	✓

GUI

Feature	Gazebo-classic	Gazebo Sim
Play / pause / step	✓	✓
Reset world / models	✓	Issue
World stats	✓	✓
Topic echo	✓	✓
Image viewer	✓	✓
Translate / rotate	✓	✓
Scale models	✓	Issue
Insert models from Fuel	Partial support	✓
Insert models from disk	✓	✓
Insert simple shapes	✓	✓
Insert simple lights	✓	✕ (available from Edifice)
Delete models	✓	✓
World tree	✓	✓
Scene properties	✓	Issue
Log recording / playback	✓	✓
Plotting	✓	✕ (available from Dome)
Video recording	✓	✓
Screenshot	✓	✓
View angles	✓	✓
Apply force / torque	✓
Visualize as transparent	✓	✕ (available from Fortress)
Visualize as wireframe	✓	✕ (available from Fortress)
Visualize joints	✓	✕ (available from Fortress)
Visualize collisions	✓	✓
Visualize inertia	✓	✕ (available from Fortress)
Visualize CoM	✓	✕ (available from Fortress)
Visualize contacts	✓	✕ (available from Dome)
Visualize lights	✓	✕ (available from Edifice)
Follow / move to	✓	✓
Copy / paste	✓	✕ (available from Fortress)
Building editor	✓
Model editor	✓	Issues
FPS view control	✓
Orthographic projection	✓	✕ (available from Fortress)
Undo / redo	✓	Issue
Save world	✓	✓
Save GUI configuration	✓	✓
Color scheme and themes	✕	✓
Position, resize and configure widgets	✕	✓
Load GUI plugins from menu	✕	✓
Edit model pose	✓	✓
Edit light properties	✓	✕ (available from Dome)
Edit physics properties	✓	✕ (available from Dome)

Physics

In Ignition Physics, physics engines are integrated as plugins, so any engine can be integrated without changing the core source code, as it was the case in Gazebo.

Feature	Gazebo-classic	Gazebo Sim
ODE engine	✓	Issue
Bullet engine	✓	✕ (available from Dome)
DART engine	✓	✓ Plugin shipped with ign-physics
Simbody engine	✓	Issue
TPE engine	✕	✓
Custom engine plugins	✕	✓
Collide bitmasks	✓	✓
Restitution coefficient	✓	✓
Collision detector	✓	✕ (available from Edifice)
Solver	✓	✕ (available from Edifice)

Rendering

In Ignition Rendering, render engines are integrated as plugins, so any engine can be integrated without changing the core source code.

Feature	Gazebo-classic	Gazebo Sim
Ogre 1.x engine	✓	✓
Ogre 2.x engine	✕	✓
Optix engine	✕	✓ Partial support
Custom engine plugins	✕	✓
Sky	✓	✕ (available from Edifice)
Fog	✓
Material scripts	✓ (Ogre 1.x scripts)	Does not apply
Physically Based Rendering (PBR)	✕	✓ (with engines that support it, like Ogre 2)
Normal maps	✓	✓
Environment maps	✕	✓
Lightmaps	✕	✕ (available from Edifice)
Particle effects	✕	✕ (available from Dome)
Render order	✕	✕ (available from Edifice)

ROS integration

ROS integration through the ros_ign packages.

Supported versions:

• ROS 1 Melodic (from source) / Noetic (binaries)

• ROS 2 Foxy (binaries)

Platforms

Platform	Gazebo-classic	Gazebo Sim
Ubuntu	✓	✓
OSX	✓	Most of the stack works, outstanding issues: command line, render window
Windows	✓	The stack works up to ign-gazebo: Issue

Others

Feature	Gazebo-classic	Gazebo Sim
Nested models	✓	✕ (available from Edifice)
Log / playback	✓	✓
Web client (GzWeb)	✓
COLLADA meshes	✓	✓
OBJ meshes	✓	✓
STL meshes	✓	✓
USD meshes	✕	✕ (available from Fortress)
Code introspection	✓	All simulation state is accessible from system plugins or through the SceneBroadcaster’s state topic
Distribute simulation across processes	✕	(coming up)
Incrementally load levels	✕	✓
Online model database	gazebo_models repository	Ignition Fuel
Saved simulation states	✓	Issue
Sphere, cylinder and box primitives	✓	✓
Ellipsoid and capsule primitives	✕	✕ (available from Edifice)
Hydrodynamics	✕	✕ (available from Edifice)
Ocean currents	✕	✕ (available from Edifice)
Test fixture	✓	✓
Spherical coordinates	✓	✕ (available from Fortress)
Generic comms system	✕	✕ (available from Fortress)