I found a good thing, a foreign open source simulation project that supports underwater robots. I originally translated the general content of the original text and wanted to post it on the blog, but considering that IEEE's copyright issues are all deleted, here is just a brief introduction to this article and its open source projects. The original link is as follows:
UUV Simulator: A Gazebo-based package for underwater intervention and multi-robot simulation
Since most of the open source simulation software for robots at this stage only supports robotic systems in the air or on the ground, and there is little support for underwater robot systems, the researchers in this article have developed an open source simulation platform that can be applied to underwater robot simulation. The platform can run on ROS and Gazebo.
The uuv simulator comes from a SWARMs (Smart and Networking Underwater Robots in Cooperation Meshes) project funded by the European Union. It is oriented towards the development of a standard simulation framework that is used to coordinate underwater drones to perform related operations. The internal structure of the software is as follows: The
software is divided into two section:
- Gazebo can define underwater sensors, robot bodies and underwater environment and environmental loads through some plug-ins. These plug-ins are not developed based on ROS but can communicate and apply with ROS through API, and can also support their expansion for other applications. Middleware.
- Based on ROS, a communication and control system of the robot is developed, which can operate the aircraft in the simulation environment. And communicate with Gazebo through ROS Bridges.
The simulator can build custom propellers (official configuration and user-defined configuration), a variety of suitable underwater sensors, hydrodynamic and hydrostatic simulation and underwater environment construction, and provide relevant information that has been built Model of the ocean and underwater world. Supports external devices such as manipulators.
See the original paper for the specific simulation and application process. The following is one of the simulation examples: multi-robot operation, detection and acquisition of point clouds, and manipulator implementation.
