Gazebo PMC Meeting Minutes 2026-06-15

Gazebo Gazebo PMC
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Hi Gazebo Community!

This week’s meeting was held on 2026-06-15T18:00:00Z and the following is a summary:

PMC Business

New agenda items

  • OSRA 2026 Funding Proposals: Reviewed and prioritized funding proposals (not public). The team will resubmit the documentation proposal and the Gazebo-ROS CI improvements proposal. A new proposal will also be drafted to create canonical ROS and Gazebo examples. The external rendering engine proposal has been shelved for now.
  • Experimental Code Policy: Discussed how to manage new features or libraries (such as Ogre 1.12 support or experimental sensors) that have not been fully reviewed or do not have guaranteed long-term maintenance by the core team. One idea being considered is hosting these in a dedicated staging/experimental/contrib directory or package with CI checks. No decision has been made yet; the team is still evaluating options and a proposal might be written about it.
  • Mesh Loader Transition: Decided to transition from custom mesh loaders (Collada, OBJ, STL) to Assimp by default in gz-common. The custom loaders will remain available as a legacy fallback (configurable via environment variable) in the next release, but they will be fully removed in subsequent releases.

Updates

*Note: Due to a lack of time, these updates were not discussed during the meeting and are shared here asynchronously.

Package Updates

  • gz-physics: Work is ongoing to implement joint velocity commands for the MuJoCo physics engine (gz-physics#1004). The initial implementation uses joint inertia matrices for gain tuning, but the team is planning to test the “integrated velocity” actuator option recommended by DeepMind.
  • gz-common: A pull request to improve the COLLADA loader has been submitted (gz-common#830), superseding a previous effort.

Infrastructure & Buildfarm

  • Homebrew Job Issue: A Homebrew CI job was broken due to eclipse-zenoh being flagged as untrusted (buildfarm-tools#253). A draft PR is in progress (gz-transport#881) but will also require updates in release-tools to resolve.
  • Branch Protection Automation: Automation of branch protection rules is set to begin once the adopted repository is moved to the gazebosim organization.

Security

  • Buildfarm Security Fixes: Plan to implement a measure to block the helper script in the GitHub Pull Request Integrator on the service side. Additionally, an upgrade to Jenkins core, plugins, and the build timeout plugin is scheduled for mid-week.

As always, the meeting notes are available at :classical_building: Gazebo PMC meeting weekly agenda - Google Docs.

The next Gazebo PMC meeting will be on 2026-06-22T18:00:00Z
(See Open Source Robotics Foundation official events)