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This repository contains the robot description and necessary launch files to simulate the RexROV 2 unmanned underwater vehicle. This repository is complementary to the Unmanned Underwater Vehicle Simulator (UUV Simulator), an open-source project extending the simulation capabilities of the robotics simulator Gazebo to underwater vehicles and environments. For installation and usage instructions, please refer to the documentation pages.

The dimensions and parameters for the RexROV 2 are derived from the published model parameters for the SF 30k ROV [1].

[1] Berg, Viktor. Development and Commissioning of a DP system for ROV SF 30k. MS thesis. Institutt for marin teknikk, 2012.

RexROV 2

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).


To simulate the RexROV 2 vehicle, please refer to the UUV Simulator repository and follow the installation instructions of the package. Then you can clone this package in the src folder of you catkin workspace

cd ~/catkin_ws/src
git clone

and then build your catkin workspace

cd ~/catkin_ws
catkin_make # or <catkin build>, if you are using catkin_tools
Example of usage

To run a demonstration with the vehicle with teleoperation, you can run a UUV simulator Gazebo scenario, such as

roslaunch rexrov2_gazebo start_demo_pid_controller.launch teleop_on:=true joy_id:=0

The teleoperation nodes are pre-configured per default for the XBox 360 controller.


RexROV 2 package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.