This is a maintained project aimed at simulating underwater environments for autonomous underwater vehicles (particularly Seawolf 8) targeted at the RoboSub Competitions. There are a lot of features yet to be implemented or even decided, the plan is to get it to work before RoboSub 2024.
Here is the paper (for a course project) for various features and architecture in the simulator: https://drive.google.com/file/d/1eip_NG7Cf2Fsl2w5lEbMnAuSLVgT55id/view?usp=sharing
- SW8 Dynamics and Communications with Rust and SimCB
- Photorealistic Outdoor Pool (1 scene)
- Automatic annotations
- Domain Randomization (visuals)
- Basic Logging (robot position)
- Dynamics Domain Randomization
- Additional environments (Indoor pools)
- Additional Robot Models
- Additional Sensors (acoustics, depth images, etc)
- ROS
- ml-agents
- control with keyboard and mouse
- Logging
- Go to Releases to install
- For use go and install SimCB here https://github.com/MB3hel/AUVControlBoard/releases/tag/v1.1.0-beta2
- Also get the Rust robot code here https://github.com/ncsurobotics/SW8S-Rust/tree/unity_sim_tcp
- The tests are written in
SW8S-Rust/comms/control_board/mod.rs, andSW8S-Rust/src/comms/control_board/mod.rs - Enter the IP for TCP server so that SW8S-Rust can connect to, but SimCB is expected to be on localhost
- run
cargo test unity_tcp_connect
- Download Unity Hub and get a free license
- Add this project to Unity Hub
- When launching it will ask you to get editor version
2023.1.8f1, you need to install this version (higher might work) - The first launch will take a while, on launch go to
Assets/Scenesand load theStartScenefor editor mode. - It should be good to go now.
Dynamics Testing: https://youtu.be/PzeR5JaaQD4
Trajectory Visualization: https://youtu.be/6XFExcnqDvA
Synthetic Image Generation w/ Domain Randomization: https://youtu.be/zcOHj0vwbpA
