I want to develop and test adaptive path planning algorithms for AUVs or also USVs.

So far I did this in ROS1 with the UUV Simulator and especially the uuv_plume_simulator.

Now I am looking for ways to do this in ROS2.

I managed to get a simulation of an AUV working with ROS2 Humble and Gazebo Ignition but I couldn't find a solution comparable to the UUV Plume Simulator.

Are there Gazebo (Ignition/Garden/Harmonic) Plugins or Projects that already deal with the simulation of the distribution of water properties like salinity/turbidity/temperature or the simulation of freshwater/hotwater/oil/particle spill or plumes? Ideally these properties would be also influenced by currents.

So far i only came across the EnvironmentPreload Plugin for Gazebo Harmonic but it seems to only offer the a static distribution of values.

Any recommendations are highly appreciated.


1 Answer 1


We did a port of the UUV Plume Simulator Package to Ros2 and it is available here:



Your Answer

By clicking “Post Your Answer”, you agree to our terms of service and acknowledge you have read our privacy policy.

Not the answer you're looking for? Browse other questions tagged or ask your own question.