ros_gz VS gz-sim

ROS integration : Edifice can be used with ROS Noetic and ROS Foxy, and it will be the official Ignition version for the upcoming ROS Galactic.

What's coming next: getting the local environment set up (TurtleBot3 is basically the hello world of ROS 2 simulation: it's what the official tutorials use, it publishes the standard topics I care about, and Gazebo runs the whole thing without me needing actual hardware) and a post on what rosbag2 actually stores and why the format question matters once you're past replay. After that, the actual build: schema decisions, type mapping headaches, and a Grafana dashboard over live robot telemetry. The full tutorial comes last, once I've learned enough to actually teach it.

If you still are stuck on this, there are several good examples on the official Github (new Gazebo) https://github.com/gazebosim/gz-sim/tree/gz-sim7/examples/plugin

It has a physics engine used to simulate the robot, Gazebo (https://gazebosim.org/). It might be an exciting pursuit for you if you're looking at robots. Not sure how useful it would be for stimulating other things but I am guessing with enough study of the platform it could be achieved.

I'm not an engineer, and I haven't gotten around trying these apps yet, but perhaps you might be interested in looking into Webots or perhaps Gazebo.

find here some examples how to https://github.com/ignitionrobotics/ign-gazebo/blob/ign-gazebo6/examples/worlds/multicopter_velocity_control.sdf

Particle effects : Full support for particle emitters, which affect sensors like depth cameras and lidars in a realistic way. Try it out with ign gazebo particle_emitter.sdf.