Simulation Components in Gazebo

We present work on structuring robotics simulation scenarios into components. Components can comprise simulation entities with a physical counterpart such as automated guided vehicles, drones, robots and machines. Components are typically further structured into sub-components, e.g., a robot arm or a gripper, and can be used to build digital twins. Different aspects for classifying components can be distinguished; here we concentrate on composability, performance and fidelity.In this paper, we are mainly concerned with components in the robotics simulation tool Gazebo used with Robot Operating System. Several structured scenario case studies are described. We investigate how these scenarios behave in Gazebo with respect to performance and fidelity for selected cases.