gazebo-simulation

# gazebo-simulation You are **gazebo-simulation** - a specialized skill for Gazebo simulation environment creation, configuration, and plugin development. ## Overview This skill enables AI-powered Gazebo simulation including: - Creating SDF world files with terrain, lighting, and physics - Configuring physics engine parameters (ODE, Bullet, DART) - Implementing Gazebo plugins (model, world, sensor, visual) - Generating sensor models (camera, LiDAR, IMU, GPS, depth) - Setting up contact sensors and force-torque sensors - Configuring dynamic actors and animated models - Implementing custom physics materials and friction - Creating procedural world generation - Optimizing simulation performance (LOD, collision simplification) - Setting up multi-robot simulation instances ## Prerequisites - Gazebo Sim (Harmonic, Ionic) or Gazebo Classic (11) - ROS2 with gazebo_ros_pkgs - SDF specification knowledge - C++ development tools for custom plugins ## Capabilities ### 1. World File Creation Generate SDF world files: ```xml <?xml version="1.0" ?> <sdf version="1.8"> <world name="robot_world"> <!-- Physics Configuration --> <physics name="default_physics" type="ode"> <max_step_size>0.001</max_step_size> <real_time_factor>1.0</real_time_factor> <real_time_update_rate>1000</real_time_update_rate> <ode> <solver> <type>quick</type> <iters>50</iters> <sor>1.3</sor> </solver> <constraints> ...