This paper presents a comparative analysis of three ROS2-compatible robotic simulators, MuJoCo, Gazebo, and CoppeliaSim, by investigating their qualitative and quantitative performance with respect to ROS2 integration, scene creation and environment setup. A pick&place task with two UR5e was implemented and executed across all simulators to guarantee a fair evaluation. The analysis further examines the challenges associated with reproducing identical experimental conditions in different simulation environments and reports CPU and memory usage during execution. Being MuJoCo the most performing environment, its ability to integrate custom dynamic models is also validated by implementing a liquid-sloshing model, and comparing its simulation with a reference results. These findings provide practical insights that may assist researchers and developers in selecting a simulator that best fits their requirements for ROS2-based robotic applications.
Boschi, I., Ida, E., Carricato, M. (2027). A Comparative Analysis of ROS2-Compatible Robotic Simulators. Cham : Springer Nature [10.1007/978-3-032-35974-2_27].
A Comparative Analysis of ROS2-Compatible Robotic Simulators
Boschi I.;Ida E.
;Carricato M.
2027
Abstract
This paper presents a comparative analysis of three ROS2-compatible robotic simulators, MuJoCo, Gazebo, and CoppeliaSim, by investigating their qualitative and quantitative performance with respect to ROS2 integration, scene creation and environment setup. A pick&place task with two UR5e was implemented and executed across all simulators to guarantee a fair evaluation. The analysis further examines the challenges associated with reproducing identical experimental conditions in different simulation environments and reports CPU and memory usage during execution. Being MuJoCo the most performing environment, its ability to integrate custom dynamic models is also validated by implementing a liquid-sloshing model, and comparing its simulation with a reference results. These findings provide practical insights that may assist researchers and developers in selecting a simulator that best fits their requirements for ROS2-based robotic applications.| File | Dimensione | Formato | |
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Boschi-Idà-Carricato_IFIT2026_PostPrint.pdf
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