rslcpp - ROS Simulation Library for C++

rslcpp - the ROS simulation library for C++ - lets you turn a set of existing ROS 2 nodes into a deterministic simulation. Instead of the asynchronous, multi-process default execution of ROS 2, rslcpp aggregates all participating nodes in a single process and drives them through a custom executor under an explicit simulation clock. A simulation run therefore produces identical results across machines, CPUs, and architectures. Standard rclcpp::Node classes are supported without any source code changes, either via a small Job interface or by dynamically loading composable nodes from the command line. Simulation time can be decoupled from wall-clock time to run faster or slower than realtime, and an optional delay backend injects deterministic fixed or measured communication delays to model network latency and processing jitter. Typical applications are scientific benchmarking, reinforcement learning environments, system-level debugging, and continuous integration testing.