HoloOcean ROS

A ROS 2 bridge for implementing a HoloOcean-based underwater robotics simulation with sonar mapping.

Check out our intro video on Youtube.

Features

• ROS2 bridge using rclpy and the HoloOcean Python API
• Thruster control using ROS2 messages
• Basic URDF file for the HoveringAUV vehicle based on the Unreal Engine simulation
• Converts ImagingSonar data to PointCloud messages
  • Uses PyBind-based C++ module to handle the conversion
  • Runs the conversion on a background thread to reduce simulation delays
• Docker and Virtualenv based development environment (see holoocean_tools)
• Demo application with Rviz visualization

Usage

NOTE: You have to clone the holoocean_tools repository for using this project. Please check the README in holoocean_tools for building instructions.

To run the simulation with point cloud visualization:

cd /holoocean/holoocean_tools
./run_point_cloud_visualization_test.sh

Now the simulation is running. You can control the submarine by selecting the control window and using the following keys:

W: move forward
A: strafe left
S: move backwards
D: strafe right

I: move upwards
J: turn left
K: move downwards
L: turn right

You can also use HoloOcean’s built-in hotkeys which are documented here: https://holoocean.readthedocs.io/en/develop/usage/hotkeys.html

Future Work

• Implement ROS2 Control Hardware Interface
• Implement more sensors
• Allow handling more agents at the same time

About Us

This project was implemented as a research project by Migeran - Software Engineering & Consulting. We are available for new software development projects in Robotics, AR/VR and other domains. If you have any questions, you may contact us through our website.