mobi1019 / UNav-Sim

Visually Realistic Underwater Robotics Simulator UNav-Sim

🌊🤖 Introducing UNav-Sim: The Ultimate Underwater Robotics Simulator! 🚀

UNav-Sim is an open-source cutting-edge underwater robotics simulator tool that leverages the power of Unreal Engine 5 (UE5) and AirSim to provide highly detailed rendering and simulation capabilities. Whether you're a researcher, developer, or robotics enthusiast, UNav-Sim offers a platform for you to dive deep into the world of underwater robotics.

Key Features:

• Open-source ✔️
• High-fidelity rendering using Unreal Engine 5 ✔️
• Underwater physics and robot models ✔️
• Works on Linux and Windows OS ✔️
• ROS1 and ROS2 support ✔️

Discover a wide range of possibilities with UNav-Sim, from exploring underwater terrains to designing and testing autonomous underwater vehicles (AUVs). Whether you're a student, researcher, or hobbyist, this powerful tool will accelerate your learning and experimentation process.

Index

1. Installation

2. Running the simulation

3. UNav-Sim ros navigation stack

1. Installation

UNav-Sim relies in Unreal Engine 5 for generating realistic renderings. First, install UE5 and then proceed to install UNav-Sim

1.1. UE5

• Make sure you are registered with Epic Games. This is required to get source code access for Unreal Engine.

• Clone Unreal 5.1 in your favorite folder and build it (this may take a while!)

# go to the folder where you clone GitHub projects
git clone -b 5.1 [e-mail]:EpicGames/UnrealEngine.git
cd UnrealEngine
./Setup.sh
./GenerateProjectFiles.sh
make

1.2. UNav-Sim

Clone this repo in your favourite folder:

git clone [e-mail]:open-airlab/UNav-Sim.git
cd UNav-Sim

We provide you scripts to automatically setup and build UNav-Sim:

./setup.sh
./build.sh
# use ./build.sh --debug to build in debug mode

Troubleshooting: If you're installing UNav-Sim from Ubuntu 22, then instead of vulkan-utils you will need to install vulkan-tools:

sudo apt update
sudo apt install vulkan-tools

1.3. Setting up the UE5 environment

cd ~/UNav-Sim/Unreal/Environments/Blocks
right-click on Blocks.uproject, select Unreal Engine Generate Project Files

2. Running the simulation

• Add the settings.json file to C:\Users[username]\Documents\AirSim

- open the project using your IDE 
- Run and debug using Launch BlocksEditor(DebugGame)

3. UNav-Sim ros navigation stack (COMING SOON)

....

UNav-Sim Documentation (COMING SOON)

Details will be uploaded soon with the submitted paper for publication

⭐ Please star this repository if you find it useful! ⭐

Thank you for using this project! 🌟