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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.


  • Clone this repo to a Catkin Workspace

  • Clone the VRX repo (hosted at ensta) to the same Workspace ( and checkout to the branch "aquanaute"


modify wind and waves

in the (/vrx_gazebo/worlds) you have

  <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"/>

  <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">
        <coeff_vector>0.5 0.5 0.33</coeff_vector>

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).


in the workspace run the command at the beginning (and every time you change a parameter)


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)

on another terminal (inside the ardupilot root) run

  ./Tools/autotest/ --vehicle=Rover --frame=sailboat-motor --map --console --location=Xlac


Ricardo RICO URIBE intern at U2IS in the summer of 2020