MoMagDii / VAUV-simulator

This simulator is based on hte Plankton and used to test Vortex Robotics' AUV

VAUV_simulator

Maritime environment simulator based on Plankton and used for developing and testing software various software modules for our SWIFT underwater vehicle.

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Overview

The simulator is a collection of ROS2 packages includes Gazebo plugins that extends the simulation capability of Gazebo to underwater vehicles, sensors and environment.

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Table of contents

• Prerequisites
• Dependencies
• Installation
• Usage

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Prerequisites

• ROS2 eloquent
• Gazebo 9.x

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Dependencies

• xacro dashing-devel branch
• Scipy 0.x
• ament_package eloquent branch

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Installation

   colcon build --packages-up-to plankton

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Usage

Starting an underwater environment:-

  ros2 launch uuv_gazebo_worlds ocean_waves.launch

Uploading SWIFT AUV:-

ros2 launch swift_description upload_swift.launch mode:=default x:=0 y:=0 z:=-1 namespace:=swift

Starting dynamic positioning PID controller:-

ros2 launch uuv_trajectory_control rov_pid_controller.launch uuv_name:=swift

Sending waypoints to the DP controller to follow:-

ros2 launch uuv_control_utils send_waypoints_file.launch uuv_name:=swift

For creating new underwater vehicle's description package run the following command within the simulator folder:-

ros2 run uuv_assistants create_new_robot_model --robot_name <ROBOT_NAME>