To address the problems of high costs and significant risks associated with at-sea tests of a full-scale deep-sea tracked mining vehicle, as well as the difficulty of existing simulation platforms in balancing physical fidelity and computational real-time performance, a co-simulation platform was developed and validated based on Project Chrono and ROS 2. With Chrono as the physics solving core and ROS 2 as the communication framework, the platform integrates a soil contact model and the Morison hydrodynamic model. Validation results demonstrate that the error of the simulated initial sinkage relative to the theoretical value is 2.4%, and the tractive force-slip ratio curve yields a coefficient of determination (R²) of 0.98 when fitted with theoretical values. Under the optimal engineering mesh resolution, the Real-Time Factor (RTF) stabilizes between 1.2 and 1.5, meeting the requirements of hardware-in-the-loop testing. This platform is available foe secondary development and also boasts higher computational efficiency, making it superior to the mainstream commercial softwares such as Adams and RecurDyn. Featuring both engineering-level physical fidelity and open-source extensibility, this platform provides a reliable virtual testing environment for the iteration of control algorithms and prior dynamic analysis of deep-sea mining equipment.