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Build an Autonomous Underwater ROV: ROS2, Gazebo, ArduSub
New
3 students

Build an Autonomous Underwater ROV: ROS2, Gazebo, ArduSub

Simulate, pilot, and map a real ROV in ROS2 Jazzy & Gazebo thrusters, sensors, SLAM & AI object detection with ArduSub
New
Created byFerbin Richard
Last updated 7/2026
English

What you'll learn

  • Build and simulate an autonomous underwater ROV from scratch using ROS2, Gazebo Harmonic, ArduSub, and QGroundControl — no hardware required
  • Pilot a BlueROV2-class vehicle in simulation: thruster control, flight modes, depth hold, and tuning ArduSub parameters through QGroundControl
  • Work with underwater sensors — camera, IMU, depth/pressure, and forward sonar — visualizing and recording live data in RViz and rosbag2.
  • Build 3D sonar mapping and train an AI vision model to detect underwater targets, then fuse it all into one autonomous inspection mission

Course content

11 sections • 87 lectures • 3h 51m total length

  • Welcome1:42
  • Who This Is for and Prerequisites1:22
  • ROV vs AUV1:32
  • Course Map1:28
  • How This Course Works1:32
  • Meet your instructor1:32
  • Course Assets1:27

Requirements

  • No programming experience needed. You will learn everything on the go

Description

This course contains the use of artificial intelligence.


Ever wondered how an underwater robot actually finds its way with no GPS, fights buoyancy and drag to hold a depth, and spots a target through murky water? In this course, you'll

build and pilot a fully simulated Autonomous Underwater Vehicle (ROV/AUV) from the ground up, using the exact industrial stack real underwater robotics teams run: ROS2 Jazzy, Gazebo

Harmonic, ArduSub SITL, and QGroundControl.


This isn't a vibe-coding course. Every hard topic is taught in three layers: the intuition (a picture or a live sim demo), the numbers (the actual math, derived plainly), and the

code/config (how it maps to ROS2, Gazebo, and ArduSub, and what breaks when you change it).


You'll start from zero installing ROS2, Gazebo, and Docker and work up through:


- Core ROS2 concepts: nodes, topics, services, parameters, launch files, TF2 frames, and DDS/QoS

- Reading and modifying a real robot's URDF/Xacro description, including mass, inertia, and collision physics

- Standing up the same Dockerized ArduSub + Gazebo + QGroundControl stack used in real underwater robotics

- Thruster physics and the allocation matrix that maps 6 thrusters to 6 degrees of freedom

- The real hydrodynamics at play: buoyancy, drag, and added mass

- State estimation with an Extended Kalman Filter, and sonar-based mapping with factor graphs and loop closure

- Training and evaluating a YOLO-based object detector for underwater inspection

- A capstone mission where you fuse piloting, mapping, and detection into one autonomous run you own end-to-end


Along the way I share real war stories from building actual underwater vehicles: sign-flip bugs, GPU render crashes, lost degrees of freedom, and false-positive detections in murky water.

By the end, you'll have hands-on, physics-grounded experience with the same tools and techniques used in real marine robotics and physical AI a strong foundation for further study

or a portfolio-ready capstone project.


Who this course is for:

  • Robotics enthusiast

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