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Unmanned Underwater Vehicle Simulator Documentation

Home
Installation
Quick start
API
UUV Simulator
UUV Simulator
- Introduction
- Features
  Features
  - Actuators
  - Gazebo worlds
  - Path and trajectory generators
  - Visual Studio Code Snippets
  - Jupyter notebooks
    Jupyter notebooks
    
    Cubic Bézier curves
    
    2D Dubins path algorithm
    
    Helical paths
    
    Linear interpolator
    
    Cubic interpolator
    
    Linear interpolator with polynomial blends
    
    Dubins interpolator
- User Guide
  User Guide
- Packages
  Packages
- C++ API
  C++ API
  - uuv_gazebo_plugins
    uuv_gazebo_plugins
    
    BuoyantObject
    
    Dynamics
    Dynamics
    
    Dynamics
    
    DynamicsFactory
    
    DynamicsFirstOrder
    
    DynamicsZeroOrder
    
    ThrusterDynamicsBessa
    
    ThrusterDynamicsYoerger
    
    FinPlugin
    
    HydrodynamicModel
    HydrodynamicModel
    
    HydrodynamicModel
    
    HydrodynamicModelFactory
    
    HMBox
    
    HMCylinder
    
    HMFossen
    
    HMSphere
    
    HMSpheroid
    
    LiftDragModel
    LiftDragModel
    
    LiftDrag
    
    LiftDragFactory
    
    LiftDragQuadratic
    
    LiftDragTwoLines
    
    ThrusterConversionFcn
    ThrusterConversionFcn
    
    ConversionFunction
    
    ConversionFunctionFactory
    
    ConversionFunctionBasic
    
    ConversionFunctionBessa
    
    ConversionFunctionLinearInterp
    
    ThrusterPlugin
    
    UnderwaterObjectPlugin
  - uuv_gazebo_ros_plugins
    uuv_gazebo_ros_plugins
    
    AccelerationsTestPlugin
    
    CustomBatteryConsumerROSPlugin
    
    FinROSPlugin
    
    JointStatePublisher
    
    LinearBatteryROSPlugin
    
    ThrusterROSPlugin
    
    UnderwaterObjectROSPlugin
  - uuv_sensor_ros_plugins
    uuv_sensor_ros_plugins
    
    ROSBasePlugin
    
    ROSBaseModelPlugin
    
    ROSBaseSensorPlugin
    
    CPCROSPlugin
    
    DVLROSPlugin
    
    GazeboRosImageSonar
    
    GPSROSPlugin
    
    IMUROSPlugin
    IMUROSPlugin
    
    IMUParameters
    
    IMUROSPlugin
    
    MagnetometerROSPlugin
    MagnetometerROSPlugin
    
    MagnetometerParameters
    
    MagnetometerROSPlugin
    
    PoseGTROSPlugin
    
    RPTROSPlugin
    
    SubseaPressureROSPlugin
    
    UnderwaterCameraROSPlugin
  - uuv_world_plugins
    uuv_world_plugins
    
    GaussMarkovProcess
    
    UnderwaterCurrentPlugin
  - uuv_world_ros_plugins
    uuv_world_ros_plugins
    
    SphericalCoordinatesROSInterfacePlugin
    
    UnderwaterCurrentROSPlugin
- Python API
  Python API
  - uuv_auv_control_allocator
    uuv_auv_control_allocator
    
    uuv_auv_actuator_interface
  - uuv_control_cascaded_pids
    uuv_control_cascaded_pids
    
    PID
  - uuv_thruster_manager
    uuv_thruster_manager
    
    uuv_thrusters
  - uuv_trajectory_control
    uuv_trajectory_control
    
    uuv_control_interfaces
    
    uuv_trajectory_generator
    
    uuv_waypoints
Plume Simulator
Plume Simulator
- Introduction
- User Guide
  User Guide
- Packages
  Packages
- C++ API
  C++ API
  - CPCSensor
- Python API
  Python API
  - uuv_plume_simulator
    uuv_plume_simulator
    
    uuv_gm_process
    
    uuv_plume_model
RexROV 2
RexROV 2
- Introduction
- Packages
  Packages
ECA A9
ECA A9
- Introduction
- Packages
  Packages
LAUV
LAUV
- Introduction
- Packages
  Packages
Desistek SAGA ROV
Desistek SAGA ROV
- Introduction
- Packages
  Packages
FAQ
Useful bibliography and other sources
About
About
- License

Table of contents

Description
Launch files

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Description¶

The uuv_gazebo package

Launch files¶

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