The Autonomous Marine System Simulator is a ROS 1- and Gazebo-based simulation environment for fast-prototyping and evaluation of marine robotic systems. The packages are built upon the UUV Simulator and DAVE Aquatic Virtual Environment.
ROS/Gazebo 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., 1990andBessa 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
casadi-based effort allocation algorithm- Geometric tracking PD controller
- Non-model-based sliding mode controller (
García-Valdovinos el al., 2014andSalgado-Jiménez et al., 2011) - Teleoperation nodes for AUVs and ROVs
Gazebo World Models
- Ocean wave shaders for wave animation
- Stratified transient ocean current model
- Scenarios of coral reef environments
Vehicle Models
This package requires ROS Noetic and Gazebo 11 on Ubuntu 20.04 Focal Fossa (64-bit).
Noetic Ninjemys(See installation instructions for ROS Noetic)Gazebo 11(See installation instructions for Gazebo 11)
This software is a research prototype, developed for the Autonomous Sensor Future Science Platform (AS FSP) Project.
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).
AMS 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.
