Simulation

Test AQUA Stack missions safely in simulation before deployment.

Simulation Environment

AQUA Stack supports: - Gazebo: Full physics simulation - Unity: Photorealistic rendering - Custom: Your own simulator via ROS

Gazebo Setup

# Install Gazebo
sudo apt install ros-noetic-gazebo-ros

# Launch BlueROV2 simulation
roslaunch aqua_gazebo bluerov2_world.launch

# Run AQUA Stack
roslaunch aqua_stack bringup.launch simulation:=true

Test Mission in Sim

# Load mission
aqua-mission load test_mission.yaml

# Execute in simulation
aqua-mission start --sim

Simulation vs Reality

Aspect	Simulation	Reality
Physics	Approximate	Exact
Visibility	Perfect	Variable
Currents	Simplified	Complex
Sensors	Ideal	Noisy

Always test on real vehicle before deployment!

Next: First Mission Tutorial