RealGazebo

Abstract

RealGazebo is a unified simulation platform that supports large-scale heterogeneous unmanned vehicle simulations by integrating Gazebo and AirSim. By combining Gazebo’s advanced physics simulation with AirSim’s high-fidelity photorealism, RealGazebo enables realistic and precise simulations of various unmanned vehicles, including UAVs, UGVs, and USVs. Performance is further optimized through GPU-based image compression using nvJPEG and simplification of DAE files. Built on the C-Track testbed environment, RealGazebo offers a virtual simulation space that closely mirrors real-world conditions, enabling reliable validation of unmanned system performance. The RealGazebo source code is open-source and freely available for use and extension.