unitsSpaceLab

gz_terramechanics is a Gazebo Sim physics plugin that simulates soil-wheel interactions (terramechanics) for a four-wheel rover. It computes wheel sinkage, traction forces, and driving torques based on Bekker-Wong soil mechanics theory.

The github of the archimede rover developed at the Department of Engineering and Architecture of the University of Trieste.

A ROS package containing the definition of the custom ROS messages used by the rover Archimede

Forest3D is a comprehensive toolkit that generates realistic forest environments for Gazebo robotics simulation by processing Blender assets and DEM terrain data through automated procedural placement algorithms.