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The project I am working on is actually a boat (USV) but I am the "hired gun" for software and don't always have ready access to it. I can't say much about the project other than to say it does have some market potential and it is hard to test on public water without drawing a crowd. As you might guess, for some parts of the project, this is a real hardship. There are lots of parts of it where it really isn't - developing communication protocols between controllers using xBees, reading GPS ...
This is a companion discussion topic for the original entry at https://community.robotshop.com/index.php/robots/show/the-boat-emulator