Underwater Simulation

Developed based on DAVE

Prerequisites

• Python (Python 3.8.10 recommended)
• ROS (ROS noetic recommended)
• DAVE: @DAVE
• BlueROV2 MPC @HKPolyU-UAV

Getting Started

1. source uuv_ws/devel/setup.bash
2. for wrecked ship: roslaunch bluerov2_dobmpc start_dobmpc_demo_ship.launch
3. for swimming pool (AprilTag placed underwater): roslaunch bluerov2_dobmpc start_dobmpc_demo_pool.launch
4. for swimming pool (AprilTag placed above water): roslaunch bluerov2_dobmpc start_dobmpc_demo_pool_side.launch

Semi-Physical Dataset

The Semi-physical dataset collected in a swimming pool (Length 50 m x Width 25 m, Depth 1 m) can be avaible by https://drive.google.com/file/d/1Aa0WR3RiYMOI9ouY_rHTWtJH9byqR_ph/view?usp=drive_link.

rosbag info

• /bluerov2/camera_front/camera_image: Images collected by the monocular camera outfitted with the BlueROV2 robot.
• /bluerov2/dvl: Velocity collected by the DVL.
• /bluerov2/imu: Linear acceleration and angular velocity of the BlueROV2 robot.
• /bluerov2/sonar: Include the range between the sonar and the obstacle.
• /bluerov2/pressure: Water pressure collected by the pressure sensor which provides the measurement of water-depth.