[UUV Simulator] Upgrade to ROS2

Simulation
1

Hi everyone,

I am an engineer from the National Oceanography Centre and I have been working for a few years with UUV Simulator ROS1. It is about time we upgrade to ROS2.

I have looked at the following possibilities to ensure a smooth transition from ROS1 to ROS2 while keeping the same simulator architecture:

  • Some fan-made UUV Sim ROS2 branches
  • Project DAVE ROS2 (https://dave-ros2.notion.site/)
  • WHOI ds_sim / wr2_sim
  • Stonefish (not based on Gazebo but a logical extension of UUV Sim)

We are trying to remain fully open source (so any Unity-based suggestions or Unreal Engine-based suggestions might be harder to follow).

  1. What do you suggest?

  2. How have you transitioned from ROS1 to ROS2?

2

I have just noticed that there was “recently” a ROS maritime gathering with WHOI explaining how they migrated from ROS1 to ROS2.

This is the post link: ROS Maritime WG 2026 Meetings - Last Tuesday of the Month 4-5pm EST

I can’t seem to be able to reply to that post, so attaching it here.

Is there a way to watch the recording? As this might be of value for the present topic.

3

@isaac Do you have access to this recording?

4

For information, I also found this post from Helena on ROS Discourse about how the DAVE ROS2 team migrated the UUV Simulator essentially to ROS2.

5

DAVE is built on ds_sim and we haven’t really done much development beyond those initial plugins that DAVE uses. So between ds_sim and DAVE I’d suggest DAVE for broader community support and activity.

The migration is maybe more helpfully discussed here.