Hi everyone,
as part of the EU project SWARMs, a plume simulation ROS package has been developed to allow the generation of particles of a passive turbulent plume in simulation. This package can be used with or without the UUV simulator package in case it is necessary for other purposes (it only necessary to change the source of the current velocity simulation). The package is available on GitHub at
and a small tutorial on how to start a plume and how to build a particle concentration sensor on a simulated vehicle in Gazebo is available here
This package is still under development but it has been successfully used in the scope of the project. Suggestions, contributions and bug reports are mostly welcome 