# T200 simulation in gazebo

**URL:** <https://discuss.bluerobotics.com/t/t200-simulation-in-gazebo/798>\
**Category:** General Discussion\
**Tags:** sitl, simulate\
**Created:** [March 1, 2017, 11:50am UTC](https://discuss.bluerobotics.com/t/t200-simulation-in-gazebo/798 "2017-03-01T11:50:34Z")\
**Posts on this page:** 1\
**Showing post:** 14

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**Author:** ![musamorena](https://avatars.discourse-cdn.com/v4/letter/m/9f8e36/32.png) [@musamorena](https://discuss.bluerobotics.com/u/musamorena)\
**Post date:** [September 25, 2017, 9:14am UTC](https://discuss.bluerobotics.com/t/t200-simulation-in-gazebo/798/14 "2017-09-25T09:14:50Z")

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Hello Jakkala,

we added thruster plugins and lift and drag plugins into the package [GitHub - uuvsimulator/uuv\_simulator: Gazebo/ROS packages for underwater robotics simulation](https://github.com/uuvsimulator/uuv_simulator). There are a number of ROVs and AUVs we already simulate in Gazebo for the Eu-Project SWARMs. We actually also have a small simulation scenario with an ROV that uses the BlueRobotics thruster. If you want to try it out and need any help, you can contact us on GitHub.

Best,

Musa

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