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.

• 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.

1. Installation

2. Running the simulation

3. UNav-Sim ros navigation stack

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

• 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 [email protected]:EpicGames/UnrealEngine.git
cd UnrealEngine
./Setup.sh
./GenerateProjectFiles.sh
make

Clone this repo in your favourite folder:

git clone [email protected]: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

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

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

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

....

Details will be uploaded soon with the submitted paper for publication

If you use this framework in your work, please cite the following paper:

Amer, Abdelhakim, Olaya Álvarez-Tuñón, Halil Ibrahim Ugurlu, Jonas le Fevre Sejersen, Yury Brodskiy, and Erdal Kayacan. (2023). UNav-Sim: A Visually Realistic Underwater Robotics Simulator and Synthetic Data-generation Framework. arXiv preprint arXiv:2310.11927.

Thank you for using this project! 🌟