Hello Open Robotics community! 
We are excited to share our open-source Fire Simulation Plugin for Gazebo Harmonic / Gazebo Sim 8.
The plugin provides a configurable fire simulation framework for simulating fire interaction with objects in a Gazebo environment.
Features
- Fire and flame simulation
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Smoke and particle effects
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Heat propagation
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Distance- and direction-based fire exposure
- Progressive ignition
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Progressive object burning
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Damage accumulation
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Charring / burn effects
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Progressive object destruction
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Configurable fire range, heat, ignition, and damage parameters
Fire Simulation Behavior
Instead of immediately removing an object when it enters a fire region, the plugin models a progressive process:
Fire → Heat Transfer → Ignition → Burning → Damage Accumulation → Charring → Destruction
This allows objects to gradually heat up, ignite, burn, accumulate damage, and eventually be destroyed based on configurable parameters.
Compatibility
- Gazebo Sim: 8.11.0
- Gazebo Distribution: Harmonic
- ROS 2: Jazzy
- OS: Ubuntu 24.04
Open Source Repository
GitHub:
Demo
YouTube:
Contributors
This project was developed through equal contributions from:
Aachal Sharma
LinkedIn: https://in.linkedin.com/in/aachal-sharma-3622ba213
Rahul Gupta
LinkedIn: https://in.linkedin.com/in/rahul-gupta-576507154
Aachal Sharma and Rahul Gupta contributed equally to the development, implementation, integration, testing, and demonstration of the Fire Simulation Plugin.
We are sharing this project with the Open Robotics community and would greatly appreciate feedback, suggestions, and contributions.
We hope this plugin can be useful for research in robotics simulation, disaster response, search and rescue, hazardous-environment navigation, and fire-aware autonomous robotics.
Thank you! 