How to simulate motor power loss with diffdrive controller?

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Yes, I think you'll have to implement a plugin for this. But note that cutting power is different from braking as the robot may continue to move due to its momentum if you just cut power from the motors. If you want to brake, you can use the HaltMotioncomponent (https://github.com/gazebosim/gz-sim/b...)

Another option is to use the TriggeredPublisher plugin to publish a 0 velocity command to the joint controllers when the safety scanner detects the robot (e.g. Lidar value is below a threshold). This option would avoid writing a plugin.

Just thinking with you. One way is to change the cmd_vel to zero when some object is detected. But that is maybe not so realistic. Another way is to change the friction of the diff_drive joints. causing it to stop

  <dynamics damping="0.0" friction="0.0"/>

See info urdf - joint