.gitignore

+
+# Created by https://www.toptal.com/developers/gitignore/api/linux,visualstudiocode,ros,c++,python,visualstudio,cmake
+# Edit at https://www.toptal.com/developers/gitignore?templates=linux,visualstudiocode,ros,c++,python,visualstudio,cmake
+
+### C++ ###
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+
+# End of https://www.toptal.com/developers/gitignore/api/linux,visualstudiocode,ros,c++,python,visualstudio,cmake

.vscode/settings.json

+{
+    "ros.distro": "melodic",
+    "python.autoComplete.extraPaths": [
+        "/home/ric/media/Aquanaute/aquanaute_ws/devel/lib/python2.7/dist-packages",
+        "/opt/ros/melodic/lib/python2.7/dist-packages"
+    ],
+    "cmake.configureOnOpen": false
+}
\ No newline at end of file

CMakeLists.txt

+/opt/ros/melodic/share/catkin/cmake/toplevel.cmake
\ No newline at end of file

README.md

+# Aquanaute
+
+Repository to simulate the Aquanaute boat in maritime conditions such as wind and waves and with autopilot provided by ardupilot, using the plugins created for the VRX and VRX-Challenge in Gazebo and ROS and the plugin ardupilot-gazebo.
+
+---
+
+## Installation
+
+* Clone this repo to a Catkin Workspace
+
+* Clone the VRX repo (hosted at ensta) to the same Workspace (<http://git-u2is.ensta.fr/ssh/vrx>) and change to the branch "aquanaute"
+
+### ardupilot parameters
+
+in the file "vehiculeinfo.py" (/ardupilot/Tools/autotest/pysim) you need to change the default parameters file for the "gazebo-rover" in the line 280 to the aquanaute.parm file provided in /aquanaute/aquanaute_description/ardu_params you can copy and paste the file in the default_params folder located inside (/ardupilot/Tools/autotest).
+*There is an error when you launch ardupilot, the motors in the gazebo simulation will start to turn in a fixed direction and wont respond to commands, this issue has not yet been fixed and it's root cause has not yet been found, It's believed that the ardupilot-gazebo plugin doesnt know how to interpret the signals sended by ardupilot*
+
+---
+
+## Usage
+
+### modify wind and waves
+
+in the ocean.world.xacro (/vrx_gazebo/worlds) you have
+
+    <!--Waves-->
+    <xacro:include filename="$(find wave_gazebo)/world_models/ocean_waves/model.xacro"/>
+    <xacro:ocean_waves gain="0.0" period="5" direction_x="-1.0" direction_y="0.0" angle="0.0"/>
+
+    <!--Wind-->
+    <xacro:include filename="$(find vrx_gazebo)/worlds/xacros/usv_wind_plugin.xacro"/>
+    <xacro:usv_wind_gazebo direction="90" mean_vel="0" var_gain="5" var_time="1">
+      <wind_objs>
+        <wind_obj>
+          <name>aquanaute</name>
+          <link_name>base_link</link_name>
+          <coeff_vector>0.5 0.5 0.33</coeff_vector>
+        </wind_obj>
+      </wind_objs>
+    </xacro:usv_wind_gazebo>
+
+It is configured to have no waves and no wind, also the wind and the waves move in the same direction, to activate wind and waves change the "mean_vel" and "gain" parameters respectively (recomended values are smaller than 1.0).  
+Even when these values are set to 0, the boat will move from right to left.
+
+---
+
+### run
+
+#### compilation
+
+in the workspace run the command at the beginning (and every time you change a parameter in the vrx xacros)
+
+    catkin_make
+
+#### gazebo simulation
+
+then launch the file you created
+
+    roslaunch aquanaute_gazebo aquanaute.launch testing:=false
+
+this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world without gravity).  
+You will have an error "Missing Model.../dock_permutations) this is normal.
+
+#### ardupilot
+
+on another terminal (inside the ardupilot root) run
+
+    ./Tools/autotest/sim_vehicle.py -v APMrover2 -f gazebo-rover --map --console -l 48.71603264538473,2.213283777236939,155,0 
+
+---
+
+## Author
+
+Ricardo RICO URIBE intern at U2IS in the summer of 2020

aquanaute_description/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(aquanaute_description)
+
+find_package(catkin REQUIRED COMPONENTS
+  controller_manager
+  gazebo_ros
+  joint_state_publisher
+  robot_state_publisher
+  rospy
+  rviz
+  roslaunch
+)
+
+roslaunch_add_file_check(launch)
+
+catkin_package()
+
+install(
+  DIRECTORY launch models urdf
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+)
+

aquanaute_description/launch/description.launch

+<launch>
+  <arg name="robot_namespace" default="aquanaute"/>
+
+  <param name="robot_description" command="cat $(find aquanaute_description)/urdf/aquanaute_description.urdf.xacro"/>
+
+  <!-- send fake joint values -->
+  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
+    <param name="use_gui" value="true"/>
+  </node>
+
+  <!-- Combine joint values -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"/>
+
+  <!-- Show in Rviz   -->
+  <node name="rviz" pkg="rviz" type="rviz" args="-d $(find aquanaute_description)/rviz/aquanaute.rviz"/>
+
+</launch>
+

aquanaute_description/package.xml

+<?xml version="1.0"?>
+<package>
+  <name>aquanaute_description</name>
+  <version>0.0.1</version>
+  <description>Aquanaute Boat URDF description</description>
+  <author email="ricardorico0527@gmail.com">Ricardo RICO URIBE</author>
+  <maintainer email="ricardorico0527@gmail.com">Ricardo RICO URIBE</maintainer>
+  <license>BSD</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <run_depend>urdf</run_depend>
+
+  <export>
+  </export>
+</package>
+

aquanaute_description/rviz/aquanaute.rviz

+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+      Splitter Ratio: 0.5
+    Tree Height: 719
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_link:
+          Value: true
+        left_hull_link:
+          Value: true
+        motor_link:
+          Value: true
+        right_hull_link:
+          Value: true
+        sensor_frame_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        base_link:
+          left_hull_link:
+            {}
+          motor_link:
+            {}
+          right_hull_link:
+            {}
+          sensor_frame_link:
+            {}
+      Update Interval: 0
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_hull_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        motor_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_hull_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        sensor_frame_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+  Enabled: true
+  Global Options:
+    Background Color: 200; 200; 200
+    Default Light: true
+    Fixed Frame: base_link
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.446293830871582
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: false
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5553984045982361
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 1.010398030281067
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1016
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd0000000400000000000001560000035afc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000035a000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000035afc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000035a000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000007430000003efc0100000002fb0000000800540069006d0065010000000000000743000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000004d20000035a00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1859
+  X: 1981
+  Y: 27

aquanaute_description/urdf/aquanaute_description.urdf.xacro

+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="aquanaute">
+
+    <material name="blue">
+        <color rgba="0 0 0.8 1"/>
+    </material>
+    <material name="red">
+        <color rgba="0.8 0 0 1"/>
+    </material>
+    <material name="green">
+        <color rgba="0 0.8 0 0.5"/>
+    </material>
+    <material name="cyan">
+        <color rgba="0 0.6 0.6 1"/>
+    </material>
+    <material name="yellow">
+        <color rgba="0.8 0.8 0 1"/>
+    </material>
+    <material name="purple">
+        <color rgba="0.5 0 0.5 1"/>
+    </material>
+    <material name="white">
+        <color rgba="1 1 1 1"/>
+    </material>
+    <material name="gray">
+        <color rgba="0.35 0.35 0.35 1"/>
+    </material>
+    <material name="black">
+        <color rgba="0 0 0 1"/>
+    </material>
+
+    <!-- * * * Link Definitions * * * -->
+    <link name="base_link">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <sphere radius="0.001"/>
+            </geometry>
+            <material name="blue"/>
+        </visual>
+    </link>
+
+    <link name="boat_link">
+        <inertial>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <mass value="38.718"/>
+            <inertia ixx="16.283" ixy="0.008" ixz="0.458" iyy="19.728" iyz="0.0" izz="33.013"/>
+        </inertial>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Assambly_aquanaute.stl"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Assambly_aquanaute.stl"/>
+            </geometry>
+            <material name="gray"/>
+        </visual>
+    </link>
+
+    <link name="motor_link">
+        <inertial>
+            <origin xyz="-0.133 0 -0.391" rpy="0 0 0"/>
+            <mass value="6.6"/>
+            <inertia ixx="0.072" ixy="3.604" ixz="-0.011" iyy="0.111" iyz="5.484" izz="0.042"/>
+        </inertial>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Motor.stl"/>
+            </geometry>
+            <material name="purple"/>
+        </visual>
+    </link>
+
+    <link name="propeller_link">
+        <inertial>
+            <origin xyz="-0.034 0 0" rpy="0 0 0"/>
+            <mass value="0.233"/>
+            <!--<inertia ixx="1.441e-04" ixy="4.406e-09" ixz="0.00" iyy="1.760e-04"	iyz="2.373e-06" izz="1.961e-04"/>-->
+            <inertia ixx="0.00" ixy="0.00" ixz="0.00" iyy="0.00" iyz="0.00" izz="0.00"/>
+        </inertial>
+
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Propeller.stl"/>
+            </geometry>
+        </collision>
+
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <mesh filename="package://aquanaute_description/models/meshes/Propeller.stl"/>
+            </geometry>
+            <material name="blue"/>
+        </visual>
+    </link>
+
+    <link name="imu_link">
+        <visual>
+            <origin rpy="0 0 0" xyz="0 0 0"/>
+            <geometry>
+                <cylinder radius="0.04" length="0.05"/>
+            </geometry>
+            <material name="cyan"/>
+        </visual>
+    </link>
+
+    <!-- * * * Joint Definitions * * * -->
+    <joint name="boat_base_joint" type="fixed">
+        <parent link="base_link"/>
+        <child link="boat_link"/>
+        <origin xyz="0 0 0.25" rpy="0 0 0"/>
+    </joint>
+
+    <joint name="motor_boat_joint" type="revolute">
+        <parent link="boat_link"/>
+        <child link="motor_link"/>
+        <origin xyz="-0.905 0.0 0.115" rpy="0 0 0"/>
+        <axis xyz="0 0 1"/>
+        <limit effort="-1" velocity="-1" lower="-0.9" upper="0.9"/>
+        <dynamics damping="0.0000001"/>
+    </joint>
+
+    <joint name="propeller_motor_joint" type="revolute">
+        <parent link="motor_link"/>
+        <child link="propeller_link"/>
+        <origin xyz="-0.265 0 -0.42" rpy="0 0 0"/>
+        <axis xyz="1 0 0"/>
+        <limit effort="-1" velocity="-1" lower="-1e+16" upper="1e+16"/>
+        <dynamics damping="0.0000001"/>
+    </joint>
+
+    <joint name="imu_boat_joint" type="fixed">
+        <parent link="boat_link"/>
+        <child link="imu_link"/>
+        <origin xyz="0 0 0.04" rpy="0 0 0"/>
+    </joint>
+</robot>

aquanaute_gazebo/CMakeLists.txt

+cmake_minimum_required(VERSION 2.8.3)
+project(aquanaute_gazebo)
+find_package(catkin REQUIRED COMPONENTS
+  aquanaute_description
+  usv_gazebo_plugins
+  xacro
+)
+catkin_package(
+  CATKIN_DEPENDS aquanaute_description usv_gazebo_plugins xacro
+)
+
+# Generate urdf files from xacro and install
+xacro_add_files(
+  urdf/aquanaute_gazebo.urdf.xacro
+  INORDER INSTALL DESTINATION urdf
+)
+
+# Install xacro files / macros
+install(DIRECTORY urdf/
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/urdf)
+

aquanaute_gazebo/launch/aquanaute.launch

+<?xml version="1.0"?>
+<launch>
+      <env name="ROSCONSOLE_CONFIG_FILE" value="$(find vrx_gazebo)/config/custom_rosconsole.conf"/>
+      
+      <!-- If true, run gazebo GUI -->
+      <arg name="gui" default="true" />
+      <!-- If true, run gazebo in verbose mode -->
+      <arg name="verbose" default="true"/>
+      <!-- If true, start in paused state -->
+      <arg name="paused" default="false"/>
+      <!-- Set various other gazebo arguments-->
+      <arg name="extra_gazebo_args" default=""/>
+      <!-- Start in a default namespace -->
+      <arg name="namespace" default="aquanaute"/>
+
+      <arg name="testing" default="false"/>
+      <!-- Initial USV location and attitude-->
+      <arg name="x" default="0" />
+      <arg name="y" default="0" />
+      <arg name="z" default="0.5" if="$(arg testing)"/>
+      <arg name="z" default="0.1" unless="$(arg testing)"/>
+      <arg name="P" default="0" />
+      <arg name="R" default="0" />
+      <arg name="Y" default="0" />
+
+      <env name="VRX_DEBUG" value="true"/>
+     
+      <!-- Start Gazebo with the world file -->
+      <include file="$(find gazebo_ros)/launch/empty_world.launch">
+            <arg name="world_name" value="$(find aquanaute_gazebo)/worlds/test.world" if="$(arg testing)"/>
+            <arg name="world_name" value="$(find vrx_gazebo)/worlds/ocean.world" unless="$(arg testing)"/>
+            <arg name="verbose" value="$(arg verbose)"/>
+            <arg name="paused" value="$(arg paused)"/>
+            <arg name="use_sim_time" value="true"/>
+            <arg name="gui" value="$(arg gui)" />
+            <arg name="enable_ros_network" value="true"/>
+            <arg name="extra_gazebo_args" value="$(arg extra_gazebo_args)"/>
+      </include>
+
+      <!-- Load robot model -->
+      <arg name="urdf" default="$(find aquanaute_gazebo)/urdf/aquanaute_gazebo.urdf.xacro"/>
+      <param name="$(arg namespace)/robot_description" command="$(find xacro)/xacro '$(arg urdf)'
+         testing:=$(arg testing)"/>
+
+      <!-- Spawn model in Gazebo, script depending on non_competition_mode -->
+      <node name="spawn_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x) -y $(arg y) -z $(arg z)
+              -R $(arg R) -P $(arg P) -Y $(arg Y)
+              -urdf -param $(arg namespace)/robot_description -model aquanaute"/>
+</launch>