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The UUV Simulator is a package containing the implementation of Gazebo plugins and ROS nodes necessary for the simulation of unmanned underwater vehicles, such as ROVs (remotely operated vehicles) and AUVs (autonomous underwater vehicles).

To send questions and/or issues, please refer to the repository’s issues 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).


If you wish to use the UUV Simulator in a research project, please cite our paper

    doi = {10.1109/oceans.2016.7761080},
    url = {},
    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}

List of repositories

Name Documentation Releases CI Issues
uuv_simulator Documentation ROS Kinetic ROS Lunar ROS Melodic Build Status GitHub issues
uuv_plume_simulator Documentation Build Status GitHub issues
rexrov2 Documentation ROS Kinetic ROS Melodic Build Status GitHub issues
eca_a9 Documentation Build Status GitHub issues
desistek_saga Documentation Build Status GitHub issues
lauv_gazebo Documentation Build Status GitHub issues


ROSCon 2018

ROSCon 2018 Madrid: Unmanned Underwater Vehicle Simulator: Enabling Simulation of Multi-Robot Underwater Missions with Gazebo from OSRF on Vimeo.

EU-Project SWARMs
Maritime Robot X Forum 2017