A simulation and rendering environment for RoboSub, providing a virtual competition pool for developing and testing navigation, perception, and control code without needing physical pool access.
Early development / planning stage. The simulation tool has not yet been selected.
- Render a virtual pool environment matching the competition pool's dimensions, lighting, and underwater visibility
- Integrate the team's robot URDF model into the simulated environment
- Interface with ROS2 so existing control and perception code can run against the simulated robot without modification
Tracked as GitHub issues:
- Underwater Physics Simulation and Rendering: build the pool scene itself (dimensions, water and lighting rendering)
- Robot URDF Integration: bring the vehicle's URDF model into the simulated pool
- Robot Integration with ROS2: wire the simulated robot up to the same ROS2 topics and services as the real vehicle
TBD. Setup instructions will be added once the simulation tool is selected and the initial pool scene is in place.
Open an issue before starting work on a new piece of functionality. Check the roadmap above for current scope.