2026
Benchmarking Full-Stack ROS 2 Simulation Platforms for Mobile Robots
Ángel Soriano, Román Navarro, Juan Manuel Navarrete, Robert Vasquez, Rafael Martín, Carlos Gascón +1
RA-L 2026
Following the official end-of-life of ROS 1 in May 2025, the robotics community is rapidly migrating to ROS 2, necessitating a rigorous re-evaluation of available simulation tools. This paper presents a comparative benchmarking of five widely used simulators: Gazebo (Harmonic), Webots (R2025a), Unit