Gazebo PMC Meeting Minutes 2026-08-03

Gazebo Gazebo PMC
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Hi Gazebo Community!

This week’s meeting was held on 2026-08-03T18:00:00Z and the following is a summary:

PMC Business

  • None

New agenda items

  • ROSCon PMC Dinner Meeting: Confirmed a PMC dinner meeting on 2026-09-21T00:00:00Z (adjusting evening time to accommodate travel schedules). Location suggestions and a poll to finalize timing are being coordinated on Zulip.
  • Buildfarm Security & Infrastructure:
    • Scraper / Crawler Mitigation: Jenkins buildfarm scrapers caused performance issues; planning to deploy Anubis frontend protection on the GitHub login endpoint at build.osrfoundation.org this week to reduce session load.
    • Nvidia Driver Version Mismatches: Addressed worker failures caused by unattended driver/kernel updates on Linux GPU nodes. The team is rebuilding node images, pinning driver versions, and disabling unattended upgrades on active instances.

Updates

Infrastructure & Release Management

  • Monthly Greenness Report: Published the new Greenness report, showing build stability above 90% across distributions.
  • Flaky Test Triage:
    • Reopened investigation for flaky test ApplyLinkWrenchTestFixture.PersistentFromTopic (gz-sim#2727).
    • Diagnosed UNIT_Server race condition flakiness and verified promise/future fixes in gz-sim#3855 and gz-sim#3858.
  • Gazebo Rotary Pre-releases:
    • Shifting to a pre-release model for Gazebo Rotary on Rolling to unblock development.
    • Added Gazebo-M collection release tooling (release-tools#1526), updated gz-cmake6-release (gz-cmake6-release#2), and released gz-cmake6 6.0.0~pre1.
    • Completed release of outstanding Gazebo vendor packages.

Physics & Simulation

  • MuJoCo Joint Velocity Commands:
    • Joint velocity command implementation is ready for review (gz-physics#1004).
    • Due to fundamental differences in MuJoCo’s proportional controller behavior compared to DART or Bullet-featherstone, the team decided to document the behavior and limitations rather than forcing a direct match.
  • MuJoCo Upgrade & Optimizations:
    • Upgrading MuJoCo to version 3.11.0 (gz-physics#1029).
    • Exploring collision computation optimizations in MuJoCo that promise a potential ~23% speedup (draft compare).

Core Libraries & Transport

  • Discovery Message & Transport Improvements:
    • Improved TopicList() functionality by adding subscriber node UUID and snapshot metadata to Discovery messages (gz-msgs#615), fixing subscriber info (gz-transport#915), and announcing subscriptions/snapshots in discovery (gz-transport#916).
    • Exploring Protobuf “unknown fields” strategy to backport protocol/message additions without breaking ABI compatibility.

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 2026-08-10T18:00:00Z
(See Open Source Robotics Foundation official events)