# Gazebo PMC Meeting Minutes 2026-06-22

**URL:** <https://discourse.openrobotics.org/t/gazebo-pmc-meeting-minutes-2026-06-22/55623>\
**Category:** Gazebo PMC\
**Tags:** gazebo, meeting, pmc\
**Created:** [June 22, 2026, 9:20pm UTC](https://discourse.openrobotics.org/t/gazebo-pmc-meeting-minutes-2026-06-22/55623 "2026-06-22T21:20:14Z")\
**Posts on this page:** 1\
**Page:** 1

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**Author:** ![azeey](https://sea2.discourse-cdn.com/flex022/user_avatar/discourse.openrobotics.org/azeey/32/6795_2.png) [@azeey](https://discourse.openrobotics.org/u/azeey)\
**Post date:** [June 22, 2026, 9:20pm UTC](https://discourse.openrobotics.org/t/gazebo-pmc-meeting-minutes-2026-06-22/55623/1 "2026-06-22T21:20:14Z")

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Hi Gazebo Community!

This week’s meeting was held on 2026-06-22T18:00:00Z and the following is a summary:

## PMC Business

- None

## New agenda items

- **OSRA 2026 Funding Proposals** : Reminded the team that funding proposals are due 2026-06-30T00:00:00Z (with an internal draft deadline of 2026-06-29T00:00:00Z). Planned proposals include a documentation revamp, a canonical demos/examples project (coordinating with the ROS PMC), a CI project, and a new proposal to experiment with replacing or supplementing Homebrew with `pixi` in CI.
- **Supplemental PR Documentation** : Discussed an experiment using AI-generated interactive HTML pages to supplement pull requests (such as [gz-rendering#1303](https://github.com/gazebosim/gz-rendering/pull/1303)) with visualizations. The team agreed that while useful for context, all critical review details must remain within the GitHub PR itself to avoid overwhelming reviewers.
- **Vulkan Support and Rendering Parallelization** : Discussed enabling Vulkan by default on Rotary to leverage modern rendering API benefits. Currently, Vulkan support is missing from Ogre 2.3 due to a build-time regression, and past experiments faced mesh/texture loading issues. Upgrading to Ogre 3.0 is being considered to help resolve these issues. Additionally, process fan-out using shared memory and flat buffers is being discussed to bypass single-threaded rendering bottlenecks.

## Updates

### Package Updates

- **MuJoCo Physics Integration (Discussed)**: Presented benchmarks of a MuJoCo physics system integration directly on the ECS ([gz-sim#3690](https://github.com/gazebosim/gz-sim/pull/3690)), showing up to a 40% speedup. The migration to MuJoCo as a system and removal of the `gz-physics` API has been deferred until a sufficient abstraction layer is developed.
- **STL and COLLADA Loader Performance (Discussed)**: Merged and backported custom ASCII STL loader performance improvements, and three COLLADA loader performance PRs are ready for review ([Part 1](https://github.com/gazebosim/gz-common/pull/830), [Part 2](https://github.com/gazebosim/gz-common/pull/831), [Part 3](https://github.com/gazebosim/gz-common/pull/832) - Rotary).
- **Other Package Updates** : Protobuf Arena allocation was merged and backported across active distributions to improve publisher system performance. In-progress updates include Ogre rendering optimizations to reduce CPU usage and GPU-to-CPU copies ([gz-rendering#1302](https://github.com/gazebosim/gz-rendering/pull/1302), [gz-rendering#1303](https://github.com/gazebosim/gz-rendering/pull/1303)), and packaging MuJoCo as a custom `.deb` ([mujoco-release](https://github.com/gazebo-forks/mujoco-release)). _(Note: Ogre and MuJoCo packaging updates were not discussed due to lack of time)_

### Infrastructure & Buildfarm

- **Buildfarm** : Stable with no major issues; monitoring one flaky test ([buildfarm-tools#255](https://github.com/osrf/buildfarm-tools/issues/255#issuecomment-4769327449)).
- **CI Upgrades & Fixes** : Upgrades to Ubuntu 26.04 (Rotary) and 24.04 (Harmonic) PR CI are pending Terraform updates for branch protection. Various test fixes were merged, and recurring GitHub 504 errors are under investigation. _(Note: CI upgrades and fixes were not discussed due to lack of time)_
- **Terraform & Packaging** : Initial PR for managing Gazebo repositories via Terraform is in place ([terraform\_github\_repos#1](https://github.com/gazebosim/terraform_github_repos/pull/1)), and a PR to import Fortress packages to the ROS 2 repository is merged ([reprepro-updater#261](https://github.com/ros-infrastructure/reprepro-updater/pull/261)). _(Note: These items were not discussed due to lack of time)_

### Security & Documentation

- **Jenkins & Support Windows** : Preparing a Jenkins security upgrade (core, plugins, and build timeout). PRs are in progress to extend Gazebo support windows to match ROS support windows ([docs#670](https://github.com/gazebosim/docs/pull/670), [docs#698](https://github.com/gazebosim/docs/pull/698)). _(Note: These items were not discussed due to time constraints)_

As always, the meeting notes are available at [🏛 Gazebo PMC meeting weekly agenda - Google Docs](https://docs.google.com/document/d/1RpVMkwiKqXKnDjqtkviz4qp73oehivf4Z1x-fTITgZY/).

The next Gazebo PMC meeting will be on 2026-06-29T18:00:00Z  
(See [Open Source Robotics Foundation official events](https://calendar.google.com/calendar/u/0/embed?src=agf3kajirket8khktupm9go748@group.calendar.google.com&ctz=UTC))