Blame view

README.md 1.87 KB
d4c095dd   Ricardo Rico Uribe   gazebo core dump ...
1
2
3
4
5
6
7
  # Aquanaute
  
  Repository to simulate the Aquanaute boat in maritime conditions such as wind and waves with the plugins created for the VRX and VRX-Challenge in Gazebo and ROS.
  
  ## Installation
  
  * Clone this repo to a Catkin Workspace
0beafed9   Ricardo Rico Uribe   modified to be ab...
8
9
  
  * Clone the VRX repo (hosted at ensta) to the same Workspace (http://git-u2is.ensta.fr/ssh/vrx) and checkout to the branch "aquanaute"
d4c095dd   Ricardo Rico Uribe   gazebo core dump ...
10
11
12
  
  ## Usage
  ### modify wind and waves
bb89241c   Ricardo Rico Uribe   fixed plugin - er...
13
    in the ocean.world.xacro (/vrx_gazebo/worlds) you have
865620f8   Ricardo Rico Uribe   spawn of aquanate...
14
15
16
17
18
    ```xml
    <!--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"/>
  
0beafed9   Ricardo Rico Uribe   modified to be ab...
19
    <!--Wind-->
865620f8   Ricardo Rico Uribe   spawn of aquanate...
20
21
22
23
24
25
26
27
28
29
30
31
    <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).
d4c095dd   Ricardo Rico Uribe   gazebo core dump ...
32
  
d4c095dd   Ricardo Rico Uribe   gazebo core dump ...
33
34
  ### run
  in the workspace run the command at the beginning (and every time you change a parameter)
865620f8   Ricardo Rico Uribe   spawn of aquanate...
35
36
37
38
39
  
    ```bash
    catkin_make
    ```
  
d4c095dd   Ricardo Rico Uribe   gazebo core dump ...
40
  then launch the file you created
865620f8   Ricardo Rico Uribe   spawn of aquanate...
41
42
  
    ```bash
bb89241c   Ricardo Rico Uribe   fixed plugin - er...
43
    roslaunch aquanaute_gazebo aquanaute.launch testing:=false
865620f8   Ricardo Rico Uribe   spawn of aquanate...
44
    ```
bb89241c   Ricardo Rico Uribe   fixed plugin - er...
45
46
47
48
49
50
51
    this parameter can be changed to true to deactivate the plugins from vrx (the world will be changed to an empty world)
  
  on another terminal (inside the ardupilot root) run
    ```bash
    ./Tools/autotest/sim_vehicle.py --vehicle=Rover --frame=sailboat-motor --map --console --location=Xlac
    ```
  
d4c095dd   Ricardo Rico Uribe   gazebo core dump ...
52
53
54
  ## Author
  Ricardo RICO URIBE intern at U2IS in the summer of 2020
  
d4c095dd   Ricardo Rico Uribe   gazebo core dump ...
55
  ## License