Gazebo

The long-standing open-source robot simulator of the ROS ecosystem — sensors, plugins and ROS 2 integration; the usual choice for testing full robot software stacks rather than training policies.ROS 生态中历史悠久的开源机器人仿真器，提供传感器、插件与 ROS 2 集成；通常用于测试完整的机器人软件栈，而非训练策略。