MBARI vehicles simulation (ROS 2)
- Software
- Drones and boats
- Simulator
A ROS 2 simulation of MBARI-inspired underwater vehicles, built on the Stonefish simulator, plus an archived Gazebo version of the ROV Doc Ricketts.
Source on GitHub: github.com/AlePuglisi/MBARI-vehicles-sim-ros2 (opens in a new tab). Facts read at commit b69f962 (opens in a new tab).
Licenses
- Code
- MIT (opens in a new tab)
Read by Robotheca from LICENSE (opens in a new tab) (MIT) at commit b69f962 (opens in a new tab), on 22 Oct 2026.
- Commercial use
- Yes
What it does
- Stonefish-based simulation of the MOLA AUV, an agile six-degree-of-freedom autonomous underwater vehicle, with joystick teleoperation and RViz visualization.
- Two underwater scenarios are provided: a coral reef with AprilTag restoration frames, and an approximate digital twin of MBARI's salt water test tank.
- Example nodes plot IMU, DVL and depth readings, and detect AprilTag markers using the Python apriltag library.
- A monocular ORB-SLAM3 integration is included as a third-party package that is skipped by default in the build.
- The earlier Gazebo part models the ROV Doc Ricketts with its thrusters and a robotic arm, and is no longer updated.
Written by Robotheca from the project's README (opens in a new tab) at commit b69f962.
Getting started
- Difficulty
- Intermediate
- How to start
- The project's README (opens in a new tab)
Maintenance
- Status
- Active: a commit in the last 90 days
- Newest commit
- 12 Oct 2026 on main
- Latest release
- None published on GitHub
Checked on GitHub on 22 Oct 2026.
Links
Robots that can run it
No robot on Robotheca is linked to it yet. Links come from a robot's robot.yaml, from its dependency files read as text, or from Robotheca's editors.
Robotheca lists software as a reference: nothing is hosted or run here, and every fact links to where it was read.