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I'm not sure how helpful this might be, but you could always look into UUV Simulator which is based on ROS (Robot Operating System) and the Gazebo physics engine for simulation. The package assumes that you are using Ubuntu and is everything is open-source. It features thruster modules, a lift and drag plugin for simulation of fins, hydrodynamic and hydrostatic forces, and much more. There are existing ROVs with all kinds of sensors and controllers available to explore the software.
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I'm not sure how helpful this might be, but you could always look into UUV Simulator which is based on ROS (Robot Operating System) and the Gazebo physics engine for simulation. The package assumes that you are using Ubuntu and is everything is open-source. It features thruster modules, a lift and drag plugin for simulation of fins, hydrodynamic and hydrostatic forces, and much more. There are existing ROVs with all kinds of sensors and controllers available to explore the software.
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