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osrf/vrx

A simulation environment built on Gazebo and ROS 2 for testing unmanned surface vehicles in marine scenarios, based on RobotX competition tasks.

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What is it?

VRX (Virtual RobotX) is a simulation environment for unmanned surface vehicles (USVs) operating in marine settings. It provides arenas and tasks similar to those used in past and upcoming RobotX competitions, along with a model of the WAM-V platform.

The project targets RobotX competitors who want to prototype solutions before on-water testing, and it is also intended for users with simulation needs beyond that competition. The current release runs on Gazebo Harmonic and ROS 2 Jazzy, which is the recommended setup for new users; the humble branch supports Gazebo Garden with ROS 2 Humble.

VRX also serves as the virtual venue for the VRX Competition, and the project wiki covers tutorials and competition documentation.

Key features

  • 01Simulated marine arenas and tasks modeled after RobotX competitions
  • 02Model of the WAM-V unmanned surface vehicle platform
  • 03Built on Gazebo Harmonic and ROS 2 Jazzy, with a humble branch for Gazebo Garden and ROS 2 Humble
  • 04Serves as the virtual venue for the VRX Competition

Use cases

  • Prototyping USV control and perception software before on-water tests
  • Preparing for the RobotX or VRX competitions in simulation
  • Running marine robotics experiments that need a simulated sea environment

Quick start

  1. 1

    Read the Getting Started guide in the VRX Wiki for installation and setup

  2. 2

    Use the ROS 2 Jazzy and Gazebo Harmonic configuration recommended in the README

Things to know

  • Requires a ROS and Gazebo setup, and the README assumes familiarity with both.
  • Setup depends on the Wiki for detailed instructions rather than a single install command.

In collections

Robotics & embodied AI projects

Topics

#robotics#simulation#gazebo#ros2#marine#usv#autonomous-vehicles#hacktoberfest

FAQ

What is vrx?
A simulation environment built on Gazebo and ROS 2 for testing unmanned surface vehicles in marine scenarios, based on RobotX competition tasks. VRX (Virtual RobotX) is a simulation environment for unmanned surface vehicles (USVs) operating in marine settings. It provides arenas and tasks similar to those used in past and upcoming RobotX competitions, along with a model of the WAM-V platform.
Is vrx free to use? What license does it have?
vrx is open source under the Apache-2.0 license. Check the license terms before using it in commercial products.
Is vrx still maintained?
Updated within 6 months. The last commit to vrx was on Aug 2, 2026.
What can I use vrx for?
Prototyping USV control and perception software before on-water tests Preparing for the RobotX or VRX competitions in simulation Running marine robotics experiments that need a simulated sea environment
How do I install vrx?
Read the Getting Started guide in the VRX Wiki for installation and setup Use the ROS 2 Jazzy and Gazebo Harmonic configuration recommended in the README
Where can I get vrx?
The source code and installation instructions are on GitHub: https://github.com/osrf/vrx

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