uuv_simulator repository

Repository Summary

Checkout URI https://github.com/uuvsimulator/uuv_simulator.git
VCS Type git
VCS Version master
Last Updated 2019-04-19
Dev Status DEVELOPED
Released RELEASED

README

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Build Status GitHub issues License

Link to the uuv_simulator repository here

Link to the documentation page

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.

Features

Gazebo/ROS plugins

  • Implementation of Fossen's equations of motion for underwater vehicles
  • Thruster modules with implementations for thruster's angular velocity to output thrust force based on Yoerger el al., 1990 and Bessa et al., 2006
  • Lift and drag plugin for simulation of fins
  • Simulation of 3D current velocity models (constant or based on first-order Gauss-Markov processes)
  • Sensor plugins

Controllers

  • For AUVs
    • casadi-based effort allocation algorithm
    • Geometric tracking PD controller
  • For ROVs
  • Teleoperation nodes for AUVs and ROVs

Gazebo world models

  • Ocean wave shaders for wave animation
  • Scenarios from the SWARMs project demonstration locations (e.g. Mangalia, Romania and Trondheim, Norway)
  • Subsea BOP panel for manipulation tasks

Vehicle models

Installation

This packages has been released for the following ROS distributions

Once the ros-<distro>-desktop-full package for the desired distribution is installed, the uuv_simulator can be installed as

```bash tab="kinetic" sudo apt install ros-kinetic-uuv-simulator



```bash tab="lunar"
sudo apt install ros-lunar-uuv-simulator

```bash tab="melodic" sudo apt install ros-melodic-uuv-simulator


For instructions on how to install the package from source, check this [instructions page](https://uuvsimulator.github.io/installation/)

# Purpose of the project

This software is a research prototype, originally developed for the EU ECSEL
Project 662107 [SWARMs](http://swarms.eu/).

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).

# License

UUV Simulator is open-sourced under the Apache-2.0 license. See the
[LICENSE](https://github.com/uuvsimulator/uuv_simulator/blob/master/LICENSE) file for details.

For a list of other open source components included in UUV Simulator, see the
file [3rd-party-licenses.txt](https://github.com/uuvsimulator/uuv_simulator/blob/master/3rd-party-licenses.txt).

# Releases

[![ROS Kinetic](https://img.shields.io/badge/ROS%20Distro-kinetic-brightgreen.svg)](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=uuv_simulator)
[![ROS Lunar](https://img.shields.io/badge/ROS%20Distro-lunar-brightgreen.svg)](http://repositories.ros.org/status_page/ros_lunar_default.html?q=uuv_simulator)
[![ROS Melodic](https://img.shields.io/badge/ROS%20Distro-melodic-brightgreen.svg)](http://repositories.ros.org/status_page/ros_melodic_default.html?q=uuv_simulator)

Repository Summary

Checkout URI https://github.com/uuvsimulator/uuv_simulator.git
VCS Type git
VCS Version master
Last Updated 2019-04-19
Dev Status DEVELOPED
Released RELEASED

README

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Build Status GitHub issues License

Link to the uuv_simulator repository here

Link to the documentation page

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.

Features

Gazebo/ROS plugins

  • Implementation of Fossen's equations of motion for underwater vehicles
  • Thruster modules with implementations for thruster's angular velocity to output thrust force based on Yoerger el al., 1990 and Bessa et al., 2006
  • Lift and drag plugin for simulation of fins
  • Simulation of 3D current velocity models (constant or based on first-order Gauss-Markov processes)
  • Sensor plugins

Controllers

  • For AUVs
    • casadi-based effort allocation algorithm
    • Geometric tracking PD controller
  • For ROVs
  • Teleoperation nodes for AUVs and ROVs

Gazebo world models

  • Ocean wave shaders for wave animation
  • Scenarios from the SWARMs project demonstration locations (e.g. Mangalia, Romania and Trondheim, Norway)
  • Subsea BOP panel for manipulation tasks

Vehicle models

Installation

This packages has been released for the following ROS distributions

Once the ros-<distro>-desktop-full package for the desired distribution is installed, the uuv_simulator can be installed as

```bash tab="kinetic" sudo apt install ros-kinetic-uuv-simulator



```bash tab="lunar"
sudo apt install ros-lunar-uuv-simulator

```bash tab="melodic" sudo apt install ros-melodic-uuv-simulator


For instructions on how to install the package from source, check this [instructions page](https://uuvsimulator.github.io/installation/)

# Purpose of the project

This software is a research prototype, originally developed for the EU ECSEL
Project 662107 [SWARMs](http://swarms.eu/).

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).

# License

UUV Simulator is open-sourced under the Apache-2.0 license. See the
[LICENSE](https://github.com/uuvsimulator/uuv_simulator/blob/master/LICENSE) file for details.

For a list of other open source components included in UUV Simulator, see the
file [3rd-party-licenses.txt](https://github.com/uuvsimulator/uuv_simulator/blob/master/3rd-party-licenses.txt).

# Releases

[![ROS Kinetic](https://img.shields.io/badge/ROS%20Distro-kinetic-brightgreen.svg)](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=uuv_simulator)
[![ROS Lunar](https://img.shields.io/badge/ROS%20Distro-lunar-brightgreen.svg)](http://repositories.ros.org/status_page/ros_lunar_default.html?q=uuv_simulator)
[![ROS Melodic](https://img.shields.io/badge/ROS%20Distro-melodic-brightgreen.svg)](http://repositories.ros.org/status_page/ros_melodic_default.html?q=uuv_simulator)

Repository Summary

Checkout URI https://github.com/uuvsimulator/uuv_simulator.git
VCS Type git
VCS Version master
Last Updated 2019-04-19
Dev Status DEVELOPED
Released RELEASED

README

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Build Status GitHub issues License

Link to the uuv_simulator repository here

Link to the documentation page

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.

Features

Gazebo/ROS plugins

  • Implementation of Fossen's equations of motion for underwater vehicles
  • Thruster modules with implementations for thruster's angular velocity to output thrust force based on Yoerger el al., 1990 and Bessa et al., 2006
  • Lift and drag plugin for simulation of fins
  • Simulation of 3D current velocity models (constant or based on first-order Gauss-Markov processes)
  • Sensor plugins

Controllers

  • For AUVs
    • casadi-based effort allocation algorithm
    • Geometric tracking PD controller
  • For ROVs
  • Teleoperation nodes for AUVs and ROVs

Gazebo world models

  • Ocean wave shaders for wave animation
  • Scenarios from the SWARMs project demonstration locations (e.g. Mangalia, Romania and Trondheim, Norway)
  • Subsea BOP panel for manipulation tasks

Vehicle models

Installation

This packages has been released for the following ROS distributions

Once the ros-<distro>-desktop-full package for the desired distribution is installed, the uuv_simulator can be installed as

```bash tab="kinetic" sudo apt install ros-kinetic-uuv-simulator



```bash tab="lunar"
sudo apt install ros-lunar-uuv-simulator

```bash tab="melodic" sudo apt install ros-melodic-uuv-simulator


For instructions on how to install the package from source, check this [instructions page](https://uuvsimulator.github.io/installation/)

# Purpose of the project

This software is a research prototype, originally developed for the EU ECSEL
Project 662107 [SWARMs](http://swarms.eu/).

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).

# License

UUV Simulator is open-sourced under the Apache-2.0 license. See the
[LICENSE](https://github.com/uuvsimulator/uuv_simulator/blob/master/LICENSE) file for details.

For a list of other open source components included in UUV Simulator, see the
file [3rd-party-licenses.txt](https://github.com/uuvsimulator/uuv_simulator/blob/master/3rd-party-licenses.txt).

# Releases

[![ROS Kinetic](https://img.shields.io/badge/ROS%20Distro-kinetic-brightgreen.svg)](http://repositories.ros.org/status_page/ros_kinetic_default.html?q=uuv_simulator)
[![ROS Lunar](https://img.shields.io/badge/ROS%20Distro-lunar-brightgreen.svg)](http://repositories.ros.org/status_page/ros_lunar_default.html?q=uuv_simulator)
[![ROS Melodic](https://img.shields.io/badge/ROS%20Distro-melodic-brightgreen.svg)](http://repositories.ros.org/status_page/ros_melodic_default.html?q=uuv_simulator)

Repository Summary

Checkout URI https://github.com/uuvsimulator/uuv_simulator.git
VCS Type git
VCS Version hydro_param_scaling
Last Updated 2017-03-29
Dev Status DEVELOPED
Released UNRELEASED

README

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

This package contains plugins to allow simulating UUVs with Gazebo. For installation and usage instructions, please refer to the Wiki pages. To send questions, report bugs or suggest improvements, please use the Issues page.

If you are using this simulator for your publication, please cite:

@inproceedings{Marcusso_2016,
  author    = {Musa Morena Marcusso Manh{\~{a}}es and Sebastian 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},
  year      = {2016},
  pages     = {1-8},
  month     = {September},
  booktitle = {OCEANS'16 MTS/IEEE Monterey}
}

In you are willing to contribute to this package, please check the instructions in CONTRIBUTING

License

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.