Currently there are few options which are being considered:

1. Attempting this problem with Webots if software development time is not that difficult for me.
2. Having ROS2 and Gazebo working properly (so that it can be easily ported to the hardwares directly).
3. Attempting custom simulator with appropriate graphics rendering (with 3D polygons).
4. Some other existing simulator.

Option 1 is about to be discarded as porting the algorithm to hardware requires extra efforts (and also, I had archived this repository as there were issues with the Webots software itself and I had raised appropriate "bugs" for that).

Option 3 can also be discarded as I am not really interested in creating another physics based software simulator just for this.

As of now, ROS2 and Gazebo might not work together properly on all of the operating systems. It does not look like Gazebo ROS2 integration page has been updated in some time. I see (as of now) the following:

http://gazebosim.org/tutorials?tut=ros2_overview

Not all functionality from ROS 1 has been ported to ROS 2 yet. You can check the progress on this issue.
If you're interested in porting official or your own custom plugins, check out the ROS2 migration contribution guide.

So, once I verify that I can use this on both Windows and Ubuntu, I will think about creating this simulator. If not, a lot has changed in software simulations since 2019! So, I might try looking some other simulator up.

In any case, a new repository will be created and this repository might not be updated.