BlueRobotics Models

Simulation ready models of the Blue Robotics vehicles for ROS 2 and Gazebo. Each vehicle is assembled from a shared library of parts (hulls, thrusters, propellers, brackets, sensors), ships as a complete default model that needs no configuration, and can be reconfigured from one YAML file when you want different parts.

  • BlueBoat: twin hull differential drive USV with the Ping2 echosounder fitted by default: BlueBoat manual

  • BlueROV2: vectored six or eight thruster ROV with camera, sonar, DVL and manipulator parts: BlueROV2 manual

Quick start

mkdir -p ~/ws/src
cd ~/ws/src && git clone https://github.com/HonuRobotics/bluerobotics_models.git
cd ~/ws && rosdep update && rosdep install --from-paths src --ignore-packages-from-source --default-yes
colcon build --merge-install
source install/setup.bash
ros2 launch blueboat_gazebo sim.launch.xml

Press play in Gazebo: the BlueBoat floats at its waterline, the propellers take thrust commands and the echosounder streams ranges. Nothing to configure; First simulation walks through it, Configuring the BlueBoat shows how to change the fitted parts, and Design explains how parts, slots and the generated models fit together.

These models target ROS 2 Lyrical and Gazebo Jetty on Ubuntu 26.04. Use the version flyout (lower left) to switch documentation between ROS distributions.