Add Gazebo Kura Roadmap

roadmap.md

@@ -8,10 +8,146 @@ info@openrobotics.org.
 
 ## Gazebo Kura Roadmap
 
-Coming soon...
+Starting in Gazebo Kura, we are introducing the idea of a secondary roadmap
+which is a list of items the Gazebo PMC is looking to implement with the help
+of the community. Committers on the Gazebo project will focus on the primary
+roadmap, but will provide guidance and review to anyone in the community
+willing to work on any of the items. Each item will have one or more point of
+contacts (POCs) who are Gazebo committers and who will be responsible for
+coordinating with a community member to get roadmap item implemented. The
+POC(s) will provide a description of the roadmap item on a Github issue as well
+as some suggestions on how the feature should be implemented.
 
-<!-- Note that some of these roadmap items may be backported to older versions of Gazebo -->
-<!-- on a best-effort basis if they do not break API and ABI. -->
+:::{note}
+Note that the roadmap may be adjusted during the development cycle and some
+items might move from the secondary to the primary roadmap depending on the
+progress of primary tasks and availability of committers.
+:::
+
+### Primary Roadmap
+
+:::{card}
+
+#### Migrate Gazebo-classic tutorials
+
+* Copy/adapt tutorials from <https://classic.gazebosim.org/tutorials>
+* {bdg-primary}`POC:` https://github.com/azeey
+
+#### Zenoh Refinement
+
+* Continue refining the recent Zenoh integration work in gz-transport to make
+it production ready
+* [Add support for loading Zenoh configuration from
+file](https://github.com/gazebosim/gz-transport/pull/733)
+* Consider supporting shared memory transport over Zenoh
+* {bdg-primary}`POC:` https://github.com/caguero
+
+#### Deep dive into Gazebo performance issues
+
+* Investigate and improve performance issues in core parts of Gazebo such as
+the Entity Component Manager(ECM), libsdformat (world loading as well as
+synchronization of models via the ECM), Physics system and associated plugins,
+and performance of rendering for moderately complex worlds.
+* {bdg-primary}`POC:` https://github.com/azeey
+
+#### Improve rendering quality
+
+* Explore how Gazebo can leverage modern rendering engines that provide higher
+rendering fidelity.
+* Potentially create a new way of integrating external rendering engines
+running in a separate process.
+* Curate models and worlds with high rendering fidelity for reference
+* {bdg-primary}`POC:` https://github.com/iche033
+
+#### Third-party plugin repository
+
+* This is part of larger plan to support CI and binary releases for third-party
+plugins, but initial task here will focus on creating a list of third-party
+plugins similar to an awesome list.
+* {bdg-primary}`POC:` https://github.com/azeey
+
+#### Add MuJoCo as a new physics engine
+
+* MuJoCo is known for its speed and superior handling of contact dynamics. In
+addition it is actively maintained and has a thriving community of users.
+Integrating MuJoCo as Gazebo's fourth physics engine will ensure that Gazebo
+can offer a more efficient physics engine while also ensuring the long term
+health of the project.
+* {bdg-primary}`POC:` https://github.com/azeey
+:::
+
+### Secondary Roadmap
+
+:::{card}
+#### Expose an API similar to SimulationRunner
+
+* Allow getting the ECM from either sim::Server or the new interface.
+* Improve C++ API provided by convenience classes (e.g. `gz::sim::Model`,
+`gz::sim::Link`) so that they are more complete for basic use cases. Users will
+still need to access the ECM directly for more advanced user cases.
+* {bdg-primary}`POCs:` https://github.com/arjo129, https://github.com/caguero
+
+#### Low fidelity, faster-than-realtime simulation
+
+* Full support for kinematic objects in dartsim and bullet
+* Support a mode where sim runs kinematics mode without having to change the
+SDF.
+* {bdg-primary}`POC:` https://github.com/scpeters
+
+#### Dynamically create ros_gz bridges
+
+* Improve the quality of life for ros_gz_bridge users by automatically creating
+bridges of all known Gazebo topics with no or minimal configuration.
+* {bdg-primary}`POC:` https://github.com/azeey
+
+#### A list of polished examples using Gazebo
+
+* Robot arms properly set up with ros2_control/moveit!
+* Working examples of one or two robots of each robot category: arm, mobile,
+humanoid, etc.
+* {bdg-primary}`POC:` https://github.com/azeey
+
+#### Improve multi-robot simulation with ROS
+
+* Gazebo-classic ROS plugins (from gazebo_ros_pkgs) had a way to set namespaces
+for each plugin, which could be used to simulate multiple robots easily. ros_gz
+doesn’t have this kind of capability. Current solution is to use xacro to add
+namespaces to Gazebo topic names.
+* {bdg-primary}`POC:` https://github.com/azeey
+
+#### Refactor initial start up sequence code
+
+* Reduce chance of "gazebo is not working" issues stemming from
+misconfiguration:
+* https://github.com/gazebosim/gz-sim/issues/2962
+* https://github.com/gazebosim/gz-sim/issues/2967
+* {bdg-primary}`POC:` https://github.com/arjo129
+
+#### Replace homebrew with Pixi in our macOS CI
+
+* Due to the rolling nature of homebrew, the maintenance burden of building
+bottles and the associated CI disruptions have become too much. Pixi on the
+other hand can provide version locked binaries.
+* {bdg-primary}`POC:` https://github.com/j-rivero
+
+#### Build python docs and ensure that they are complete
+
+* Host a sphinx autogenerated Python documentation for all of Gazebo's python
+bindings
+* {bdg-primary}`POC:` https://github.com/j-rivero
+
+#### Provide an integration with ros2’s resource_retriever
+
+* This would allow Gazebo can find assets from ROS packages and ROS tools such
+as RViz can find assets known to Gazebo
+
+* {bdg-primary}`POC:` https://github.com/mjcarroll
+:::
+
+:::{note}
+Note that some of these roadmap items may be backported to older versions of
+Gazebo on a best-effort basis if they do not break API and ABI.
+:::
 
 ### Gazebo Kura Release Timeline (2026)