Software Architecture and Simulation Interface for Autonomous Underwater Vehicles

In the cutting-edge field of unmanned underwater vehicles, advanced simulation, and software architecture are essential parts for the innovation and scalable development of any project. This paper presents a robust and modular software architecture for simulating an AUV, integrating current technologies with strong community support such as ROS2 Humble, Gazebo, and Rviz for deep immersion in controlled environment simulation. Through meticulous algorithm development for navigation and teleoperation, this research paves the way for implementing future control and detection strategies that transcend current engineering challenges. The results demonstrate a clear and robust software architecture that accurately simulates AUV Max operations, marking progress in the development of future underwater explorations. This paper invites readers to delve into our architecture, addressing software implications to ensure scalability over time.