In the twin simulator above, on the right pane, the ground control software is controlling the drone with joystick as it would in real world scenario.

On the left pane the simulated world is running under the Gazebo simulator with 0,91x real time (1 means real world pace) physics active. Physical properties like inertia, touch check, acceleration etc. are activated and running under real time calculations.

The drone operatör is closing up the drone to the ship’s virtual metal sheets and taking thickness measurements. Virtual sheets and drone EMAT probe are modelled with simulated magnet and touch models.