Simulation System of Underwater Manipulator Based on Gazebo

Since the field experiment of underwater robots are costly and dangerous, simulation experiments are typically employed in the design and test process. This paper presents a quick and efficient technique for controlling the Moveit manipulator in a gazebo-based underwater simulation environment. First of all, a simulation system based on Gazebo is developed, which includes modeling the underwater environment, kinematics, the integration of gazebo and rviz, and the visualization of the entire configuration procedure. Next, the simulation experiments of the planning and movement of an underwater manipulator are conducted in an underwater setting. The experiment results demonstrate that the developed simulation system has visualized the motion of the underwater manipulator and collected the velocity and position of the joints during the simulation experiment.