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Medusa Simulation

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.

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Requirements

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

Installation Requirements

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

Citation

If you use medusa_base in a scientific publication, we would appreciate citations: TODO

Documentation

https://dsor-isr.github.io/medusa_simulation/

Active Developers

Previous Contributors

  • João Cruz
  • Hung Tuan
  • Shubham Garg
  • Jorge Ribeiro
  • Miguel Ribeiro
  • Henrique Silva
  • João Botelho
  • Filipa Almeida

Omnipresent

  • Prof. António Pascoal
  • Prof. Carlos Silvestre
  • Prof. Rita Cunha
  • Prof. Bruno Guerreiro
  • Prof. Pedro Batista
  • Luís Sebastião
  • Manuel Rufino
  • Pedro Gois
  • Helena Santana

License

Medusa Simulation is open-sourced under the MIT license. See the LICENSE file for details.