All of Gazebo's supported physics engines support gyroscopic forces, though there are options to disable or limit gyroscopic effects since they can cause numerical instability. I'm not sure what settings are currently in use for each physics engine. We are planning to add several accuracy tests to gazebo, one of which will involve gyroscopic forces.

Thank you for your help. Nice. I tested it and I suppose it is not enabled, what is not bad. It was just important to know. I have solved this by an own approach, what is perfectly suitable for my application. Will future versions of the gazebo API support this enable/disable gyroscopic effect functions?