Gazebo Harmonic Complete Guide 2026 — SDF, ROS 2 Bridge, DART Physics & Nav2

The most complete Gazebo Harmonic reference guide: installation, SDF world format, robot modelling, ros_gz_bridge ROS 2 integration, DART/Bullet/TPE physics engines, Nav2 + SLAM, and migration from Gazebo Classic. 10 sections.

Section 1: Gazebo Harmonic installation and first launch
Section 2: SDF world format — lights, models, physics
Section 3: Robot modelling in SDF with diff drive plugin
Section 4: ros_gz_bridge — ROS 2 topic bridging
Section 5: DART, Bullet, and TPE physics engines
Section 6: Sensor plugins — camera, LiDAR, IMU
Section 7: Nav2 and SLAM integration
Section 8: Migration from Gazebo Classic to Harmonic
Section 9: Headless and cloud rendering
Section 10: 12 common errors and fixes