I want to move a USV device with GPS based localization. Can you recommend any simulation environments and navigation stacks that can work in them? I need to integrate it in a simple way. Thank you for your recommendations…
I have used the VRX simulator in the past. I was working mainly in ROS Noetic with GPS, but the main VRX branch is now in ROS 2.
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The best simulator for marine robotics is Gazebo. It has many capabilities that are useful to both surface and underwater robots, such as surface wave simulation and simulation of thrusters.
@mabelzhang is one of our experts on the topic.
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Thank you for the information you provided @gbiggs @Gglaspell. I have examined the VRX system in detail. My main goal is to make an obstacle aviodance system. Are there any open source navigation stacks that you can recommend for this? I know a stack like Nav2 that can work on indoor systems and has tested a GPS-based application on a rover (a type of autonomous mobile robot that works outdoors). Since Autoware is designed entirely for cars, it seems like it will take a long time to manipulate it. I wanted to go with Nav2 here, but I did not see any examples or projects that were worked on. I do not want to choose the wrong paths. I need to define the navigation structure (global and local planners, obstacle aviodance structure, localization, synchronous communication infrastructure between packages) precisely and clearly. Since I could not see any project or work, I wanted to write here (as a navigation stack). Thank you in advance for your help.
The best people to ask about that are the people on this Discourse who are involved in maritime robotics. They have a lot of experience and knowledge about how to do things like navigation at sea.
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