uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Link to the uuv_simulator repository here

Link to the documentation page

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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

Purpose of the project

This software is a research prototype, originally developed for the EU ECSEL Project 662107 SWARMs.

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 file for details.

For a list of other open source components included in UUV Simulator, see the file 3rd-party-licenses.txt.

Releases

Contributing

Want to contribute? Great! You can do so through the standard GitHub pull request model. For large contributions we do encourage you to file a ticket in the GitHub issues tracking system prior to any code development to coordinate with the UUV Simulator development team early in the process. Coordinating up front helps to avoid frustration later on.

Your contribution must be licensed under the Apache-2.0 license, the license used by this project.

Add / retain copyright notices

Include a copyright notice and license in each new file to be contributed, consistent with the style used by this project. If your contribution contains code under the copyright of a third party, document its origin, license, and copyright holders.

Sign your work

This project tracks patch provenance and licensing using a modified Developer Certificate of Origin (DCO; from OSDL) and Signed-off-by tags initially developed by the Linux kernel project.

UUV Simulator Developer's Certificate of Origin.  Version 1.0

By making a contribution to this project, I certify that:

(a) The contribution was created in whole or in part by me and I
    have the right to submit it under the "Apache License, Version 2.0"
    ("Apache-2.0"); or

(b) The contribution is based upon previous work that is covered by
    an appropriate open source license and I have the right under
    that license to submit that work with modifications, whether
    created in whole or in part by me, under the Apache-2.0 license;
    or

(c) The contribution was provided directly to me by some other
    person who certified (a) or (b) and I have not modified it.

(d) I understand and agree that this project and the contribution
    are public and that a record of the contribution (including all
    metadata and personal information I submit with it, including my
    sign-off) is maintained indefinitely and may be redistributed
    consistent with this project and the requirements of the Apache-2.0
    license or any open source license(s) involved, where they are
    relevant.

(e) I am granting the contribution to this project under the terms of
    Apache-2.0.

    http://www.apache.org/licenses/LICENSE-2.0

With the sign-off in a commit message you certify that you authored the patch or otherwise have the right to submit it under an open source license. The procedure is simple: To certify above UUV Simulator Developer’s Certificate of Origin 1.0 for your contribution just append a line

Signed-off-by: Random J Developer <random@developer.example.org>

to every commit message using your real name or your pseudonym and a valid email address.

If you have set your user.name and user.email git configs you can automatically sign the commit by running the git-commit command with the -s option. There may be multiple sign-offs if more than one developer was involved in authoring the contribution.

For a more detailed description of this procedure, please see SubmittingPatches which was extracted from the Linux kernel project, and which is stored in an external repository.

Individual vs. Corporate Contributors

Often employers or academic institution have ownership over code that is written in certain circumstances, so please do due diligence to ensure that you have the right to submit the code.

If you are a developer who is authorized to contribute to UUV Simulator on behalf of your employer, then please use your corporate email address in the Signed-off-by tag. Otherwise please use a personal email address.

Maintain Copyright holder / Contributor list

Each contributor is responsible for identifying themselves in the NOTICE file, the project’s list of copyright holders and authors. Please add the respective information corresponding to the Signed-off-by tag as part of your first pull request.

If you are a developer who is authorized to contribute to UUV Simulator on behalf of your employer, then add your company / organization to the list of copyright holders in the NOTICE file. As author of a corporate contribution you can also add your name and corporate email address as in the Signed-off-by tag.

If your contribution is covered by this project’s DCO’s clause “(c) The contribution was provided directly to me by some other person who certified (a) or (b) and I have not modified it”, please add the appropriate copyright holder(s) to the NOTICE file as part of your contribution.