Webots
The Webots robot simulator version R2022a made it to Humble during the last sync. To get started, check out the ROS 2 tutorial about Setting-up A Robot Simulation with Webots. This Humble release fixes a couple of minor bugs, see changelog. We plan to release Webots R2022b for Humble in the next couple of weeks, that will introduce a large number of new features.
Enjoy.