Underwater ROV modeling at Texas A&M Unmanned Systems Labs

This is a library focused on developing a general underwater rigid body modeling framework in Modelica, meant for modeling and simulating underwater ROV designs and controls. It is based off of the MultiBody library, and adds a water field component to allow for buoyancy and drag forces. It also contains basic connectivity to ROS, from the modelica_bridge library (previously known as ModROS).

Description of Packages

• URBL - The Underwater Rigid Body Library is to be used for modeling underwater bodies - dependent on the MultiBody library, and MSL 3.2.2
• ROVm - package for modeling the BlueROV2 underwater ROV - dependent on RBodyInFluid.
• The ROS package for connecting the Modelica models to ROS has now been extended for general use, and packaged into modelica_bridge