No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://github.com/uuvsimulator/uuv_simulator.git
VCS Type	git
VCS Version	master
Last Updated	2019-05-24
Dev Status	DEVELOPED
Released	RELEASED

Packages

Name	Version
uuv_assistants	0.6.12
uuv_auv_control_allocator	0.6.12
uuv_control_cascaded_pid	0.6.12
uuv_control_msgs	0.6.12
uuv_control_utils	0.6.12
uuv_thruster_manager	0.6.12
uuv_trajectory_control	0.6.12
uuv_descriptions	0.6.12
uuv_gazebo	0.6.12
uuv_gazebo_plugins	0.6.12
uuv_gazebo_ros_plugins	0.6.12
uuv_gazebo_ros_plugins_msgs	0.6.12
uuv_gazebo_worlds	0.6.12
uuv_sensor_ros_plugins	0.6.12
uuv_sensor_ros_plugins_msgs	0.6.12
uuv_simulator	0.6.12
uuv_teleop	0.6.12
uuv_tutorial_disturbances	0.6.12
uuv_tutorial_dp_controller	0.6.12
uuv_tutorial_seabed_world	0.6.12
uuv_tutorials	0.6.12
uuv_world_plugins	0.6.12
uuv_world_ros_plugins	0.6.12
uuv_world_ros_plugins_msgs	0.6.12

README

`uuv_simulator`: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

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
- Thruster manager with computation of the thruster allocation matrix based on the thruster frames available in /tf
- Model-based feedback linearization controller (Fossen, 2011)
- Nonlinear PID controller (Fossen, 2011)
- Non-model-based sliding mode controller (García-Valdovinos el al., 2014 and Salgado-Jiménez et al., 2011)
- PD controller with restoration forces compensation
- 6-DOF PID controller
- Singularity-free tracking controller (Fjellstad and Fossen, 1994)
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

Work-class ROV rexrov based on the model presetend in Berg, 2012
eca_a9
lauv_gazebo
desistek_saga
rexrov2

Installation

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

```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	2019-05-24
Dev Status	DEVELOPED
Released	RELEASED

Packages

Name	Version
uuv_assistants	0.6.12
uuv_auv_control_allocator	0.6.12
uuv_control_cascaded_pid	0.6.12
uuv_control_msgs	0.6.12
uuv_control_utils	0.6.12
uuv_thruster_manager	0.6.12
uuv_trajectory_control	0.6.12
uuv_descriptions	0.6.12
uuv_gazebo	0.6.12
uuv_gazebo_plugins	0.6.12
uuv_gazebo_ros_plugins	0.6.12
uuv_gazebo_ros_plugins_msgs	0.6.12
uuv_gazebo_worlds	0.6.12
uuv_sensor_ros_plugins	0.6.12
uuv_sensor_ros_plugins_msgs	0.6.12
uuv_simulator	0.6.12
uuv_teleop	0.6.12
uuv_tutorial_disturbances	0.6.12
uuv_tutorial_dp_controller	0.6.12
uuv_tutorial_seabed_world	0.6.12
uuv_tutorials	0.6.12
uuv_world_plugins	0.6.12
uuv_world_ros_plugins	0.6.12
uuv_world_ros_plugins_msgs	0.6.12

README

`uuv_simulator`: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

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
- Thruster manager with computation of the thruster allocation matrix based on the thruster frames available in /tf
- Model-based feedback linearization controller (Fossen, 2011)
- Nonlinear PID controller (Fossen, 2011)
- Non-model-based sliding mode controller (García-Valdovinos el al., 2014 and Salgado-Jiménez et al., 2011)
- PD controller with restoration forces compensation
- 6-DOF PID controller
- Singularity-free tracking controller (Fjellstad and Fossen, 1994)
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

Work-class ROV rexrov based on the model presetend in Berg, 2012
eca_a9
lauv_gazebo
desistek_saga
rexrov2

Installation

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

```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	2019-05-24
Dev Status	DEVELOPED
Released	RELEASED

Packages

Name	Version
uuv_assistants	0.6.12
uuv_auv_control_allocator	0.6.12
uuv_control_cascaded_pid	0.6.12
uuv_control_msgs	0.6.12
uuv_control_utils	0.6.12
uuv_thruster_manager	0.6.12
uuv_trajectory_control	0.6.12
uuv_descriptions	0.6.12
uuv_gazebo	0.6.12
uuv_gazebo_plugins	0.6.12
uuv_gazebo_ros_plugins	0.6.12
uuv_gazebo_ros_plugins_msgs	0.6.12
uuv_gazebo_worlds	0.6.12
uuv_sensor_ros_plugins	0.6.12
uuv_sensor_ros_plugins_msgs	0.6.12
uuv_simulator	0.6.12
uuv_teleop	0.6.12
uuv_tutorial_disturbances	0.6.12
uuv_tutorial_dp_controller	0.6.12
uuv_tutorial_seabed_world	0.6.12
uuv_tutorials	0.6.12
uuv_world_plugins	0.6.12
uuv_world_ros_plugins	0.6.12
uuv_world_ros_plugins_msgs	0.6.12

README

`uuv_simulator`: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

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
- Thruster manager with computation of the thruster allocation matrix based on the thruster frames available in /tf
- Model-based feedback linearization controller (Fossen, 2011)
- Nonlinear PID controller (Fossen, 2011)
- Non-model-based sliding mode controller (García-Valdovinos el al., 2014 and Salgado-Jiménez et al., 2011)
- PD controller with restoration forces compensation
- 6-DOF PID controller
- Singularity-free tracking controller (Fjellstad and Fossen, 1994)
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

Work-class ROV rexrov based on the model presetend in Berg, 2012
eca_a9
lauv_gazebo
desistek_saga
rexrov2

Installation

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

```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)

No version for distro indigo. Known supported distros are highlighted in the buttons above.

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro jade. Known supported distros are highlighted in the buttons above.

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

Packages

Name	Version
uuv_assistants	0.0.0
uuv_control_cascaded_pid	0.0.0
uuv_thruster_manager	0.0.0
uuv_descriptions	0.0.0
uuv_gazebo	0.0.0
uuv_gazebo_plugins	0.0.0
uuv_gazebo_ros_plugins	0.0.0
uuv_gazebo_ros_plugins_msgs	0.0.0
oberon	0.0.0
oberon_control	0.0.0
oberon_description	0.0.0
oberon_teleop	0.0.0
oberon4	0.0.0
oberon4_control	0.0.0
oberon4_description	0.0.0
uuv_manipulators_commons	0.0.0
uuv_manipulators_control	0.0.0
uuv_manipulators_description	0.0.0
uuv_manipulators_kinematics	0.0.0
uuv_manipulators_msgs	0.0.0
uuv_sensor_plugins	0.0.0
uuv_sensor_plugins_ros	0.0.0
uuv_sensor_plugins_ros_msgs	0.0.0
uuv_auv_teleop	0.0.0
uuv_filtered_joy	0.0.0
uuv_vehicle_teleop	0.0.0
uuv_nc_parser	0.0.0
uuv_world_plugins	0.0.0
uuv_world_ros_plugins	0.0.0
uuv_world_ros_plugins_msgs	0.0.0

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.

uuv_simulator repository

Repository Summary

Packages

README

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Features

Installation

Repository Summary

Packages

README

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Features

Installation

Repository Summary

Packages

README

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Features

Installation

Repository Summary

Packages

README

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

License

`uuv_simulator`: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

`uuv_simulator`: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

`uuv_simulator`: Unmanned Underwater Vehicle (UUV) simulation with Gazebo