Which of the following simulators is the best choice for simulating a swarm of AUVs working together to perform a mission? Please clarify your reason and if you know any better choice, I would greatly appreciate it if you kindly help me. Please consider the need for doing Hardware-In-The-Loop(HIL) simulation.
In addition, notice that capability to connect to the middle-wares like ROS is really important.
The other option is using a game engine like Blender but I think it needs a lot of developing effort and is time-consuming! Would you recommend this approach be used? If not, why not? And what would you recommend instead?