eeUVsim U-CAT AUV simulator — device market

Install

Three ways to run this device. Each one serves its fake backend: no instrument, no simulator install and no upstream checkout.

OpenAI4S (one command)

shell

openai4s lab add robots/centre-for-biorobotics__eeuvsim_gazebo

Installs the device into the OpenAI4S Lab on its fake backend and starts it. First time? See setup below.

Or, in the workbench, open the Lab tab → Market → Install.

Standalone MHS endpoint

shell

git clone --depth 1 https://github.com/PKU-YuanGroup/OpenMHS.git && cd OpenMHS
PYTHONPATH=MHS/sdk/src python3 -m mhs serve robots/centre-for-biorobotics__eeuvsim_gazebo --port 7400
# in a second terminal, from the same directory:
PYTHONPATH=MHS/sdk/src python3 -m mhs describe --endpoint http://127.0.0.1:7400

Serves the device as an MHS endpoint on port 7400 from an OpenMHS clone (Python 3.10 or later, standard library only); describe prints what it offers.

Any MCP host (Claude Desktop, Cursor, …)

mcp configuration

{
  "mcpServers": {
    "eeuvsim-gazebo": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/centre-for-biorobotics__eeuvsim_gazebo",
        "--mcp"
      ],
      "env": {
        "PYTHONPATH": "/path/to/OpenMHS/MHS/sdk/src"
      }
    }
  }
}

Add this server to the host's MCP configuration and replace /path/to/OpenMHS with the path of your OpenMHS clone. The host starts the server and talks to it on stdin and stdout.

What it does

Measures

name
pose
twist
reference_frame
flipper_fr
flipper_br
flipper_bl
flipper_fl
read_auv_state
read_fin_feedback

Adjusts

Nothing declared.

Actions

set_fin_oscillation: Publish one Flippers message with the four fin oscillation commands on /hw/flippers_cmd. The receipt confirms only that rosbridge accepted the publication, not that moveFins applied it or that the AUV moved or stopped.
publish_reset: Publish one std_msgs/Bool data=true reset request on /ucat/reset. This is an unacknowledged publication: AUVMotion's reset callback and moveFins' reset_joints may be triggered, but the driver receives no completion, and the fin timer is not stopped.

Names as the driver declares them. Units, limits and the safety declaration are in the package's REFERENCE.md.

First-time setup

The OpenAI4S workbench with the OpenMHS lab, from a source checkout:

shell

# OpenAI4S workbench with the OpenMHS lab (source checkout)
git clone --recursive https://github.com/PKU-YuanGroup/OpenAI4S.git
cd OpenAI4S && ./setup.sh && source .venv/bin/activate
openai4s lab add robots/centre-for-biorobotics__eeuvsim_gazebo
openai4s serve        # open the Lab tab

The standalone endpoint and the MCP server need only an OpenMHS clone and Python 3.10 or later. More in the market's getting-started guide and on the OpenAI4S host page.

Source and evidence

Upstream: centre-for-biorobotics/eeuvsim_gazebo
Pinned commit: 7276ed34215c
Licence: NOASSERTION
Stars: 22
Evidence: contract_checked on the fake backend
Backends: fake

The upstream repository asserts no licence (NOASSERTION); check it before you redistribute the upstream code.

The driver package MHS/drivers/robots/centre-for-biorobotics__eeuvsim_gazebo wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.