Scalable Multi-Robot Integration and Automated Bridging for ROS 2 and Gazebo

This project aims to improve the integration between ROS 2 and Gazebo by addressing two key challenges: manual bridge configuration and limited support for scalable multi-robot simulation. Currently, users must manually define topic mappings when using ros_gz_bridge, which becomes error-prone and difficult to maintain in dynamic or large-scale environments. In addition, multi-robot simulation requires modifying SDF/URDF files to avoid topic conflicts, making it hard to reuse robot models. To solve these issues, this project proposes a unified communication layer that introduces (1) dynamic bridge discovery to automatically detect and connect compatible ROS 2 and Gazebo topics. (2) a standardized namespacing mechanism for Gazebo plugins to enable seamless multi-robot deployment without modifying robot descriptions. The expected outcome is a robust and scalable framework that reduces configuration overhead, improves interoperability between ROS 2 and Gazebo, and allows developers to launch multiple robots with minimal effort.