This repository contains the robot description and necessary launch files to simulate the BlueROV2 (unmanned underwater vehicle) on Unmanned Underwater Vehicle Simulator (UUV Simulator). It's also possible to simulate the BlueROV2 using ArduSub Software-In-The-Loop with mavros and other ROS packages. joystick interaction and video streaming capture with opencv based on package from BlueRobotics.
This work consolidates the contributions from Ingeniarius, Lda. and Instituite of Systems and Robotics University of Coimbra within the scope of MS thesis "Localization of an unmanned underwater vehicle using multiple water surface robots, multilateration, and sensor data fusion". Source code is derived from bluerov_ros_playground.
The Unmanned Underwater Vehicle Simulator (UUV-Sim) is also supported in this repository. The vehicle model generated at bluerov2, has been adapted to work with Melodic relase of UUV-Sim
This repository is intended as introductory marine vehicle simulation software for the 2021 Spring Special Course "Autonomous Marine Robotics" hosted at the Technical University of Denmark.
The repository was built and tested on a fresh installation of Ubuntu 18.04. The Getting Started Guide will assist with installation of dependencies and testing. Tutorials 01 and 08 are intended for students enrolled in Autonomous Marine Robotics special course at DTU. The simulation tutorial gives a quick start guide for people interested in using the simulations.
If you need more information about the topics and what you can access, take a look here.
BlueROV2 package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.