# \[UUV Simulator\] Upgrade to ROS2 **URL:** \ **Category:** Simulation\ **Created:** [September 21, 2026, 10:00am UTC](https://forum.oceansoft.org/t/uuv-simulator-upgrade-to-ros2/53 "2026-09-21T10:00:42Z")\ **Posts on this page:** 5\ **Page:** 1
**Author:** ![achille\_martin](https://avatars.discourse-cdn.com/v4/letter/a/41988e/32.png) [@achille\_martin](https://forum.oceansoft.org/u/achille_martin)\ **Post date:** [September 21, 2026, 10:00am UTC](https://forum.oceansoft.org/t/uuv-simulator-upgrade-to-ros2/53/1 "2026-09-21T10:00:42Z")
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/](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? ---
**Author:** ![achille\_martin](https://avatars.discourse-cdn.com/v4/letter/a/41988e/32.png) [@achille\_martin](https://forum.oceansoft.org/u/achille_martin)\ **Post date:** [September 22, 2026, 1:52pm UTC](https://forum.oceansoft.org/t/uuv-simulator-upgrade-to-ros2/53/2 "2026-09-22T13:52:56Z")
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](https://forum.oceansoft.org/t/ros-maritime-wg-2026-meetings-last-tuesday-of-the-month-4-5pm-est/37) 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. ---
**Author:** ![toby](https://yyz2.discourse-cdn.com/flex008/user_avatar/forum.oceansoft.org/toby/32/8_2.png) [@toby](https://forum.oceansoft.org/u/toby)\ **Post date:** [September 27, 2026, 1:46am UTC](https://forum.oceansoft.org/t/uuv-simulator-upgrade-to-ros2/53/3 "2026-09-27T01:46:14Z")
@isaac Do you have access to this recording? ---
**Author:** ![achille\_martin](https://avatars.discourse-cdn.com/v4/letter/a/41988e/32.png) [@achille\_martin](https://forum.oceansoft.org/u/achille_martin)\ **Post date:** [September 27, 2026, 11:48am UTC](https://forum.oceansoft.org/t/uuv-simulator-upgrade-to-ros2/53/4 "2026-09-27T11:48:41Z")
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. > **[\[GSoC 2024\] Migration of project DAVE to ROS 2 and Harmonic: Worlds, Models...](https://discourse.openrobotics.org/t/gsoc-2024-migration-of-project-dave-to-ros-2-and-harmonic-worlds-models-and-plugins/39313)** > > \[GSoC 2024\] Migration of project DAVE to ROS 2 and Harmonic: Worlds, Models and Plugins Organization: Open Robotics Mentors: Woen-Sug Choi, Mabel Zhang Student: Helena Bianchi Moyen (Github, LinkedIn) Link to GSoC project:... ---
**Author:** ![cst0](https://yyz2.discourse-cdn.com/flex008/user_avatar/forum.oceansoft.org/cst0/32/48_2.png) [@cst0](https://forum.oceansoft.org/u/cst0)\ **Post date:** [September 29, 2026, 4:46pm UTC](https://forum.oceansoft.org/t/uuv-simulator-upgrade-to-ros2/53/5 "2026-09-29T16:46:29Z")
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](https://forum.oceansoft.org/t/whoi-ros-shared-ros2-foundations-for-all-platforms/42).