Robust autonomous solutions require a physical design and algorithms that have been throughly tested in a variety of environments. The tutorials below illustrate how to customize the USV platform and the operating environment to support development of solutions that are robust to the dynamic ocean environment.

• Adding VRX course elements: How to create your own VRX course in Gazebo.
• Changing model and environmental parameters: How to change model parameters (hydrodynamics, thrust, etc.) or environmental parameters (wind, waves, etc.) to customize the scenario under test.
• Creating a custom dock: How to create a floating dock (scan and dock) with user specified shape and dimensions.

• Specifying WAM-V propulsion and component configuration: How to create and customize thruster/component locations and performance.
• Existing propulsion configurations: How to use the existing "H", "T" and "X" WAM-V thruster configurations.
• Thruster articulation: How to control the thrust angle of propulsion thrusters.
• Adding components to the WAM-V: How to manually custom the base USV by adding sensors (GPS, camera, ball shooter, etc.).
  • Adding Gazebo camera visualization: How to enable visualization, within Gazebo, of what the robot sees.
• Visualizing with RViz: How to use RViz to see what the robot sensors see.