MARUS - Maritime Unity Simulator

The documents presented here cover most of what you need to start you off with development using the Marus simulator.

• Depth
  • Depth Sensor
  • Depth Sensor ROS
• Gnss
  • Gnss Sensor
  • Gnss ROS
• IMU
  • Imu Sensor
  • Imu ROS
• Pose
  • Pose sensor
  • Pose Sensor ROS
• Lidar
  • Initializing lidar object
    • Configuring sensor parameters
    • Acquiring and visualizing the pointcloud data
    • Streaming pointcloud data to ROS
• Sonar
• Camera Object Detection Saver
• Pointcloud Semantic Segmentation Saver
• Tf Streamer
  • Tf Streamer ROS
• Underwater render