v1.2

New Features

• Image Streaming — RTSP-based camera feed streaming via image_receiver (lifecycle node) and image_viewer. Stream
  is automatically started/stopped based on subscriber count.
• x500_lidar_2d vehicle — New x500 variant with 2D LiDAR. Sensor bridges are auto-generated by inferring sensor type
  from the SDF.
• Network simulation (network_sim) — V2V communication simulation package using Linux TC/netem.
• Docker Compose multi-vehicle simulation — Launch multiple vehicles from a single YAML config via
  start_compose_simulation.sh / stop_compose_simulation.sh.

Changes

• Gazebo startup synchronization — Replaced fixed 30-second sleep with /clock topic subscription before spawning
  vehicles.
• Simulation script refactor — Unified argument parsing across scripts and renamed compose simulation script.
• PX4 DDS profile default — px4_participant profile is now applied by default in vehicle launch configuration.
• MotorFailureROS2 added to lc_62 model by default.
• MotorFailureROS2 plugin interface changed
  • Topic renamed: motor_failure/motor_number (std_msgs/Int32) → motor_failure/ratios
    (std_msgs/Float32MultiArray)
  • Behavior changed: full stop override → ratio-based output degradation (current_vel * (1.0 - ratio))
  • data[i] = failure ratio for motor i (0.0 = normal, 0.5 = 50% loss, 1.0 = complete failure)

Bug Fixes

• Added curl retry logic (--retry 5) for mesh file downloads during build.

Scripts

Script	Description
start_compose_simulation.sh	Generate docker-compose from YAML config and start simulation
stop_compose_simulation.sh	Stop simulation and clean up containers
run_image_stream.sh	Launch image stream viewer ([vehicle_num] [vehicle_type] [camera_type])

Full Changelog: v1.1...v1.2

v1.1

• Migrate RealGazebo plugin from PX4
• Add simulation launch with parameter modification
• Add collision-enabled rock obstacle models
• Send battery and vehicle mode info to Unreal UI
• Add simulation reset functionality
• Add split world execution support
• Add ROS2-based MotorFailure plugin

Full Changelog: v1.0...v1.1

v1.0

RealGazebo 1.0

https://realgazebo.cbnu.ac.kr/

Full Changelog: v0.1-alpha...v1.0

v0.1-alpha

TODO

• Add RTSP -> ROS2 Topic node
• Add rock falling plugin

Full Changelog: https://github.com/SUV-Lab/RealGazebo-ROS2/commits/v0.1-alpha