Gazebo, which is the most widely used simulation engine in ROS. It combined the ODE physics engine with OpenGL rendering and support code for simulating sensors and controlling actuators. ODE, Bullet, and other powerful physics engines are just a few of the ones that Gazebo can employ (the default is ODE). It renders environments with realism and includes excellent lighting, shadows, and textures. It may replicate sensors like wide-angle cameras, laser range finders, Kinect-style sensors, and others that can "see" the simulated environment.