This repository holds the Medusa Simulation code stack for underwater marine vehicles of DSOR-ISR (Dynamical Systems for Ocean Robotics - Institute for System Robotics). It contains the necessary components to simulate and control the MEDUSA class of marine vehicles. It provides 2 types of simulation. A matlab like simulation written in C++ and another using gazebo simulator.
This code stack was developed with ROS1 in mind. In order to use, you are required to have:
- Ubuntu 20.04LTS (64-bit)
- ROS1 Noetic
- Python 3
See the guide in Medusa Base repository to install the library requirements and then clone this repository along with its submodules:
git clone --recursive git@github.com:dsor-isr/medusa_simulation.git
If you use medusa_base in a scientific publication, we would appreciate citations: TODO
https://dsor-isr.github.io/medusa_simulation/
- João Quintas jquintas@gmail.com
- Marcelo Jacinto marcelo.jacinto@tecnico.ulisboa.pt
- David Souto david.souto@tecnico.ulisboa.pt
- André Potes andre.potes@tecnico.ulisboa.pt
- Francisco Rego ffcrego@gmail.com
- David Cabecinhas dcabecinhas@isr.tecnico.ulisboa.pt
- João Cruz
- Hung Tuan
- Shubham Garg
- Jorge Ribeiro
- Miguel Ribeiro
- Henrique Silva
- João Botelho
- Filipa Almeida
- Prof. António Pascoal
- Prof. Carlos Silvestre
- Prof. Rita Cunha
- Prof. Bruno Guerreiro
- Prof. Pedro Batista
- Luís Sebastião
- Manuel Rufino
- Pedro Gois
- Helena Santana
Medusa Simulation is open-sourced under the MIT license. See the LICENSE file for details.