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UUVsim is a simulation tool extending the functionality of Gazebo in ROS to underwater scenarios. For this work, a simulation environment for a UUV should be set up (i.e. BlueROV2 Heavy) , evaluated and compared against competing software UWsim . Furthermore, experimental data is also to be gathered to assess the simulator's fidelity in simulating not only the environment and vehicle dynamics but a range of sensors that are to be employed in maritime environment. Experience with ROS and Gazebo is desireable. Contact: [Petar Bevanda]