Abstract: Underwater robot technology, as an important component of modern robotics and marine technology, is gradually becoming a research hotspot in the fields of scientific research, industry, and military at home and abroad. In order to improve the teaching quality of underwater robot related disciplines and students'practical ability, based on BOPPPS teaching mode, this paper designs an underwater robot simulation experiment platform in ROS (robot operating system), combined with Gazebo simulation platform, Rviz visualization tool and Moveit operation software. The platform leverages virtual simulation technology to provide a low-cost, efficient learning environment, helping students master the basic operations, control principles, and applications of underwater robots. This paper introduces the platform's design concepts, simulation environment setup, teaching practices, and evaluation of its effectiveness, aiming to provide new ideas and methods for the teaching reform of underwater robot disciplines.

Key words: BOPPPS instructional model, Robot operating system, Gazebo simulation, Rviz visualization tool, Moveit operation software, Underwater robot