Continuum robotics is a field whose interest has been increasing in recent years, due to the high compliance, dexterity, and maneuverability intrinsic to their nature. This paper presents a novel open-source simulation environment for a 3D continuum robot driven by tendons. The architecture of the ROS 2 environment allows for the modular coupling of different nodes, with the possibility of further development of nodes by the user. Experimental results show that the forcing model developed for the tendon actuation is in accordance with the measured data.