Python C++ CMake Shell GLSL
Latest commit 5878f11 Aug 3, 2018

uuv_simulator: Unmanned Underwater Vehicle (UUV) simulation with Gazebo

Build Status Read the Docs Gitter

This package contains plugins to allow simulating UUVs with Gazebo. For installation and usage instructions, please refer to the documentation pages. To send questions, report bugs or suggest improvements, please use the Issues page.

If you are using this simulator for your publication, please cite:

	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}

In you are willing to contribute to this package, please check the instructions in CONTRIBUTING

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).


UUV Simulator is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

For a list of other open source components included in UUV Simulator, see the file 3rd-party-licenses.txt.