Gazebo/ROS packages for underwater robotics simulation
uuv_simulator
: Unmanned Underwater Vehicle (UUV) simulation with GazeboLink to the
uuv_simulator
repository here
Link to the documentation page
Chat on Discord
The Unmanned Underwater Vehicle Simulator is a set of packages that include plugins and ROS applications that allow simulation of underwater vehicles in Gazebo.
If you are using this simulator for your publication, please cite:
@inproceedings{Manhaes_2016,
doi = {10.1109/oceans.2016.7761080},
url = {https://doi.org/10.1109%2Foceans.2016.7761080},
year = 2016,
month = {sep},
publisher = {{IEEE}},
author = {Musa Morena Marcusso Manh{\~{a}}es and Sebastian A. Scherer and Martin Voss and Luiz Ricardo Douat and Thomas Rauschenbach},
title = {{UUV} Simulator: A Gazebo-based package for underwater intervention and multi-robot simulation},
booktitle = {{OCEANS} 2016 {MTS}/{IEEE} Monterey}
}
In you are willing to contribute to this package, please check the instructions in CONTRIBUTING.
Gazebo/ROS plugins
Yoerger el al., 1990
and Bessa et al., 2006
Controllers
casadi
-based effort allocation algorithm/tf
Fossen, 2011
)Fossen, 2011
)García-Valdovinos el al., 2014
and Salgado-Jiménez et al., 2011
)Fjellstad and Fossen, 1994
)Gazebo world models
Vehicle models
rexrov
based on the model presetend in Berg, 2012
eca_a9
lauv_gazebo
desistek_saga
rexrov2
This packages has been released for the following ROS distributions
kinetic
(See installation instructions for ROS Kinetic)lunar
(See installation instructions for ROS Lunar)melodic
(See installation instructions for ROS Melodic)Once the ros-<distro>-desktop-full
package for the desired distribution is installed, the uuv_simulator can be installed as
sudo apt install ros-kinetic-uuv-simulator
sudo apt install ros-lunar-uuv-simulator
sudo apt install ros-melodic-uuv-simulator
For instructions on how to install the package from source, check this instructions page
This software is a research prototype, originally developed for the EU ECSEL Project 662107 SWARMs.
The software is not ready for production use. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).
UUV Simulator is open-sourced under the Apache-2.0 license. See the LICENSE file for details.
For a list of other open source components included in UUV Simulator, see the file 3rd-party-licenses.txt.