# Marine Robotics Simulation Framework

**URL:** https://discuss.bluerobotics.com/t/marine-robotics-simulation-framework/19856
**Category:** General Discussion
**Created:** [March 23, 2025, 8:09pm UTC](https://discuss.bluerobotics.com/t/marine-robotics-simulation-framework/19856 "2025-03-23T20:09:51Z")
**Posts on this page:** 1
**Page:** 1

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### Author: ![markusbuchholz](https://avatars.discourse-cdn.com/v4/letter/m/ed655f/32.png) [@markusbuchholz](https://discuss.bluerobotics.com/u/markusbuchholz)
#### Post date: [March 23, 2025, 8:09pm UTC](https://discuss.bluerobotics.com/t/marine-robotics-simulation-framework/19856/1 "2025-03-23T20:09:51Z")

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Hello,

For all interested in the simulation of BlueRobotics vehicles, I have just created a [repository](https://github.com/markusbuchholz/marine-robotics-sim-framework) where you can find a simulator that provides you excellent opportunities to develop your algorithms in the combination of BlueBoat - tether -BlueRov2.

The framework utilizes GazeboSim, enhanced with realistic marine environment plugins and ArduPilot’s Software-in-the-Loop (SITL) mode. ArduSub for BlueROV2 and ArduRover for BlueBoat.

There are also simple ROS 2 interfaces to both BlueROV2 and BlueBoat.

Thanks!

Regards,  
Markus Buchholz