Sim to Real

In 2020 we used Gazebo along with ROS and SITL to simulate the basic movement of our AUV and use of the PixHawk. After an increase of products in the field of Sim2Real this year, we aimed to create a far more realistic and open tool for the community. We moved to Unity which allowed us to easily model custom assets and create a photorealistic environment. Unity also allows us more control over the objects in the simulation at a low level, helping to serve as an intermediary towards our goal of creating a custom flight controller. 

This simulation, named the RoboSub-Sim, includes a full model of TRANSDEC, the game missions, functional models of sensors commonly used in the competition, and serves as an efficient and practical way to test for RoboSub teams. Currently, we have basic autonomous and user-directed control for anyone to try out our view here. We are continuing to expand this functionality and develop more advanced sensors including hydrophones and underwater intersub communication modems. With the help of interested members of the RoboSub community, we hope to improve the RoboSub-Sim to become a platform similar to VRX (used in the RobotX competition) and build upon the ideas of the data sharing effort.