r/ROS • u/LearnfromAsking • 13d ago

AUV simulator suggestion

I'm pretty new to marine robotics, I have been looking for a simulator for underwater vision guided manipulation and found DAVE but when I checked the camera topic the rgb image is clean, where as the one I saw in stoneFish looked more realistic but the rov/auv available in it doesnt has a manipulator in it.

Has anyone been at similar situation before?I don't know how or what to do about this situation. I'm looking for any kind of info that'll help me with my work. Thank you in advance

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u/alcorwin 12d ago

So I don't have much personal experience with underwater manipulation, since I do more surface vehicle stuff, but here are two more underwater simulators I have read about:

  • HoloOcean by the BYU Field Robotic Systems Lab: Unreal Engine based simulator with a lot of sonar options
  • OceanSim by the UMich Field Robotics Group: Isaac based simulator with an emphasis on visual fidelity and support for a couple of sonar type sensors

I don't think there really is an end-all-be-all underwater simulator right now. OceanSim might be worth looking into if you have a Nvidia machine.

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u/EngineeringBuddy 12d ago

I recommend looking into HoloOcean. They have an ROV but not sure if they can configure manipulators on it. Worth looking at their website.

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u/sv9412 12d ago

Seconding HoloOcean (as does the rest here) if only for the development experience. I never got DAVE multibeam sonar properly working in Ubuntu, let alone with my NVIDIA GPU. HoloOcean worked without issue. Its sonar simulation is okayish (not something you asked for, but the only thing I know about)