RSLCPP - Deterministic Simulations Using ROS 2

Jun 16, 2026·
Simon Sagmeister
Simon Sagmeister
,
Marcel Weinmann
,
Phillip Pitschi
,
Markus Lienkamp
· 0 min read
Abstract
This paper presents a methodology for deterministic simulations using ROS 2 nodes and introduces the ROS Simulation Library for C++ (RSLCPP). The approach enables reproducible simulation routines across hardware platforms without requiring code changes to the integrated nodes.
Type
Publication
IEEE Robotics and Automation Practice
publications
Simon Sagmeister
Authors
Simon Sagmeister
Research Associate and Teamlead
Team Lead and Researcher with 4+ years of experience building real-world autonomous driving systems. Passionate about reliable, high-performance, and modular robotics software, AI, simulation, and motion control.