UVMS Simulator and SimLab

Guides

  • Project Overview
    • Architecture
    • System Layers
    • Guide Map
    • Core Runtime Nodes
    • Launch Modes
    • Dynamic Obstacles and Replanning
    • Command Replay
    • Controller Modes
    • Dynamics Provenance
    • Capability Map
  • Installation and Build
    • System Requirements
    • Workspace Setup
    • Python Dependencies
    • OMPL Python Bindings
    • Build
    • Optional GPU Dynamics Build
    • Documentation Build
    • GitHub Pages Deployment
    • First Launch Check
  • Tutorial
    • Verify the Robot Description
    • Launch Interactive Simulation
    • Common Launch Arguments
    • Inspect the Runtime
    • Plot Data
    • Record Data
  • Hardware-in-the-Loop Setup
    • Overview
    • Prerequisites
    • Launch Direction
    • BlueROV Thruster Mapping and Sign Check
    • Architecture & HIL Presentation
  • Services, Actions, and Topics
    • Inspecting Runtime Interfaces
    • Simulation Reset and Dynamics Services
    • Simulated Camera Dynamics Service
    • Dynamic Obstacle Services
    • SimLab Backend API
      • Path-obstacle test flow
    • Planner Action
    • State Topic
    • Controller Performance Topic
    • Related Guides
  • Controls, Menus, and Teleoperation
    • Interactive Task
    • Feedback Control and Replay
    • Waypoint Menu
    • Joystick in the Interactive Task
    • Manual Task
    • Direct Thruster Keyboard Task
  • Command Replay and Experiments
    • Workflow
    • Replay Profile Layout
    • Command CSV
    • Dynamics Profiles
    • Replay Metadata
    • Subsystem Mode
    • Reset Behavior
    • Repeated Passes
    • Replay CSV Logging
    • Plot Replay Sessions
    • MCAP to Replay Profiles
  • Batch RL Training
    • Quick Start
    • Python Training Loop
    • RSL-RL Adapter
    • Timing Contract
    • Data Contract
    • Add an Experiment
    • Backend Boundary
  • Sensors and Perception
    • Sensor Topic Overview
    • Simulated Sensors
    • Launch Behavior
    • Camera Output
    • Camera Calibration and TF
    • Hardware Camera
    • Mixed Real/Sim Camera
    • Simulated Camera
    • Standalone Real Camera Node
    • Camera Mount and Lights
  • Developer Guide
    • Where Things Live
    • State Machine Rules
    • Adding a Controller
    • Adding a Planner
    • Adding a Trajectory Generator
      • Planner and trajectory runtime notes
    • Adding a Dynamics Backend or Robot Interface
  • License

Project Links

  • GitHub: uvms-simulator
  • GitHub: uvms-simlab
  • GitHub: Floating-KinDyn-Graph
  • GitHub: diff_uv
UVMS Simulator and SimLab
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© Copyright 2026, Edward Morgan.

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