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Visually Realistic Underwater Robotics Simulator UNav-Sim
| Date | Stars |
|---|---|
| 2026-07-24 | 317 |
| 2026-07-25 | 317 |
| 2026-07-28 | 317 |
| 2026-07-30 | 317 |
| 2026-08-06 | 317 |
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# 🌊🤖 Introducing UNav-Sim: The Ultimate Underwater Robotics Simulator! 🚀  **UNav-Sim** is an open-source cutting-edge underwater robotics simulator tool that leverages the power of **Unreal Engine 5 (UE5)** and [AirSim](https://github.com/microsoft/AirSim) to provide highly detailed rendering and simulation capabilities. Whether you're a researcher, developer, or robotics enthusiast, UNav-Sim offers a platform for you to dive deep into the world of underwater robotics. ## Key Features: - **Open-source** :heavy_check_mark: - **High-fidelity rendering using Unreal Engine 5** :heavy_check_mark: - **Underwater physics and robot models** :heavy_check_mark: - **Linux and Windows compatible** :heavy_check_mark: - **ROS1 and ROS2 support** :heavy_check_mark: ## Example environments: [MIMIR](https://github.com/remaro-network/MIMIR-UW) | | | :-------------------------:|:-------------------------:  |  |  |  | # Index [1. Installation](https://github.com/open-airlab/UNav-Sim#1-installation) [2. Running the simulation](https://github.com/open-airlab/UNav-Sim#2-running-the-simulation) [3. Getting Started](https://github.com/open-airlab/UNav-Sim#3-unav-sim-ros-navigation-stack) [4. UNav-Sim ros navigation stack](https://github.com/open-airlab/UNav-Sim#4-unav-sim-ros-navigation-stack) [5. UNav-Sim documentation](https://github.com/open-airlab/UNav-Sim#5-unav-sim-documentation) # 1. Installation Instructions (for Ubuntu OS) UNav-Sim relies in Unreal Engine 5 for generating realistic renderings. First, install UE5 and then proceed to install UNav-Sim ## 1.1. UE5 - Make sure you are [registered with Epic Games](https://docs.unrealengine.com/en-US/SharingAndReleasing/Linux/BeginnerLinuxDeveloper/SettingUpAnUnrealWorkflow/index.html). This is required to get source code access for Unreal Engine. - Clone Unreal 5.1 in your favorite folder and build it (this may take a while!) ```bash # go to the folder where you clone GitHub projects git clone -b 5.1 [email protected]:EpicGames/UnrealEngine.git cd UnrealEngine ./Setup.sh ./GenerateProjectFiles.sh make ``` ## 1.2. UNav-Sim Clone this repo in your favourite folder: ```bash git clone [email protected]:open-airlab/UNav-Sim.git cd UNav-Sim ``` We provide you scripts to automatically setup and build UNav-Sim: ```bash ./setup.sh ./build.sh # use ./build.sh --debug to build in debug mode ``` **Troubleshooting:** If you're installing UNav-Sim from Ubuntu 22, then instead of `vulkan-utils` you will need to install `vulkan-tools`: ```bash sudo apt update sudo apt install vulkan-tools ``` ## 1.3. Setting up the UE5 environment ```bash cd ~/UNav-Sim/Unreal/Environments/Blocks right-click on Blocks.uproject, select Unreal Engine Generate Project Files ``` # 2. Running the simulation - Add the settings.json file to C:\Users\[username]\Documents\AirSim ```bash - open the project using your IDE - Run and debug using Launch BlocksEditor(DebugGame) ``` # 3. Getting Started - HelloROV Example The **HelloROV** example demonstrates how to use the **UNav-Sim API** in combination with the **AirSim API** to control the ROV's thrusters and execute a **Circular Trajectory Following Controller**. This example drives the ROV along a circular path while maintaining a fixed altitude and yaw angle. The controller generates a reference for the ROV to follow along a circular trajectory. Parameters like **radius**, **angular velocity**, **altitude**, and **yaw** are defined. At each time step, the controller cal
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matched fp:cbf545e58ffcbd5b, topic:ros, topic:slam, topic:simulation