rosflight · iandareid · Jun 5, 2026 · Jun 5, 2026 · JMoore5353 · Jun 12, 2026
diff --git a/rosflight_sim/CMakeLists.txt b/rosflight_sim/CMakeLists.txt
@@ -144,14 +144,34 @@ install(
   TARGETS sil_board
   DESTINATION lib/${PROJECT_NAME})
 
-# Gazebo dynamics and simulator
-add_subdirectory(simulators/gazebo_sim)
-
 # Standalone simulator
 add_subdirectory(simulators/standalone_sim)
 
-# HoloOcean simulator
-add_subdirectory(simulators/holoocean_sim)
+# Optional simulator visualizers. These repositories may be cloned into the
+# rosflight_sim/simulators directory independently of rosflight_sim.
+set(ROSFIGHT_SIMULATORS_DIR "${CMAKE_CURRENT_SOURCE_DIR}/simulators")
+
+set(ROSFIGHT_GAZEBO_CLASSIC_DIR "${ROSFIGHT_SIMULATORS_DIR}/rosflight_viz_gazebo_classic")
+if(EXISTS "${ROSFIGHT_GAZEBO_CLASSIC_DIR}/CMakeLists.txt")
+  if("$ENV{ROS_DISTRO}" STREQUAL "humble")
+    add_subdirectory(simulators/rosflight_viz_gazebo_classic)
+  else()
+    message(WARNING
+      "rosflight_viz_gazebo_classic found, but Gazebo Classic visualizer is only built on ROS 2 Humble; skipping")
+  endif()
+endif()
+
+set(ROSFIGHT_GAZEBO_DIR "${ROSFIGHT_SIMULATORS_DIR}/rosflight_viz_gazebo")
+if(EXISTS "${ROSFIGHT_GAZEBO_DIR}/CMakeLists.txt")
+  add_subdirectory(simulators/rosflight_viz_gazebo)
+else()
+  message(WARNING "rosflight_viz_gazebo not found; skipping modern Gazebo visualizer")
+endif()
+
+set(ROSFIGHT_HOLOOCEAN_DIR "${ROSFIGHT_SIMULATORS_DIR}/rosflight_viz_holoocean")
+if(EXISTS "${ROSFIGHT_HOLOOCEAN_DIR}/CMakeLists.txt")
+  add_subdirectory(simulators/rosflight_viz_holoocean)
+endif()
 
 #############
 ## Install ##

diff --git a/rosflight_sim/package.xml b/rosflight_sim/package.xml
@@ -24,12 +24,6 @@
   <depend>rclcpp</depend>
   <depend>rclpy</depend>
 
-  <depend condition="$ROS_DISTRO == 'humble'">gazebo_dev</depend>
-  <depend condition="$ROS_DISTRO == 'humble'">gazebo_plugins</depend>
-  <depend condition="$ROS_DISTRO == 'humble'">gazebo_ros</depend>
-  <depend condition="$ROS_DISTRO == 'humble'">gazebo</depend>
-  <depend condition="$ROS_DISTRO == 'humble'">xacro</depend>
-
   <depend>geometry_msgs</depend>
   <depend>nav_msgs</depend>
   <depend>rosflight_msgs</depend>

diff --git a/rosflight_sim/simulators/README.md b/rosflight_sim/simulators/README.md
@@ -0,0 +1,3 @@
+# Using Other Visualizations.
+
+To use another visualizer, git clone one of the `rosflight_viz_*` repos from the ROSflight organization on GitHub into this repo and build as normal.
diff --git a/rosflight_sim/simulators/gazebo_sim/CMakeLists.txt b/rosflight_sim/simulators/gazebo_sim/CMakeLists.txt
diff --git a/rosflight_sim/simulators/gazebo_sim/gazebo_resource/asphalt.world b/rosflight_sim/simulators/gazebo_sim/gazebo_resource/asphalt.world
diff --git a/rosflight_sim/simulators/gazebo_sim/gazebo_resource/runway.world b/rosflight_sim/simulators/gazebo_sim/gazebo_resource/runway.world
diff --git a/rosflight_sim/simulators/gazebo_sim/include/gazebo_dynamics.hpp b/rosflight_sim/simulators/gazebo_sim/include/gazebo_dynamics.hpp
Original file line number	Diff line number	Diff line change
		@@ -0,0 +1,3 @@
		# Using Other Visualizations.

		To use another visualizer, git clone one of the `rosflight_viz_*` repos from the ROSflight organization on GitHub into this repo and build as normal.
JMoore5353 Jun 12, 2026 Copy link Copy Markdown Contributor Choose a reason for hiding this comment The reason will be displayed to describe this comment to others. Learn more. This is nitpicky. Could we maybe move this READme to the top level rosflight_ros_pkgs readme? Otherwise I could see people having a hard time finding it. We should also tell them exactly which directory to clone the `rosflight_viz_*` packages into, to avoid confusion.