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  # Aquanaute
  
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  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.
  
  ---
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  ## Installation
  
  * Clone this repo to a Catkin Workspace
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  * 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 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 it's not yet defined, it may be the ardupilot_gazebo plugin or the ardupilot frame*
  
  ---
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  ## Usage
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  ### modify wind and waves
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  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>wamv</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.
  
  ---
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  ### run
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  #### 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
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  then launch the file you created
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      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)
  
  #### ardupilot
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  on another terminal (inside the ardupilot root) run
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      ./Tools/autotest/sim_vehicle.py -v APMrover2 -f gazebo-rover --map --console -l 48.71603264538473,2.213283777236939,155,0 
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  ---
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  ## Author
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  Ricardo RICO URIBE intern at U2IS in the summer of 2020