From f6b0aa0da3a2db3b1e56e1b7b0dc978eae3cee46 Mon Sep 17 00:00:00 2001
From: kimtaehyung <taehyeong77@naver.com>
Date: Thu, 21 Mar 2019 10:54:02 +0900
Subject: [PATCH 1/2] check this

---
 README.md                                     | 16 +---
 ros_ship_description/world/open_water.world   | 94 +++++++++++++++++++
 .../google_statc_map_api_key_sample.yaml      |  1 -
 3 files changed, 99 insertions(+), 12 deletions(-)
 create mode 100644 ros_ship_description/world/open_water.world
 delete mode 100644 ros_ship_visualization/config/google_statc_map_api_key_sample.yaml

diff --git a/README.md b/README.md
index 18c6da6..bc026e9 100644
--- a/README.md
+++ b/README.md
@@ -2,17 +2,11 @@
 USV simulator for ROS
 
 # how to build
-1.cd ~/catkin_ws/src
-2.git@github.com:hakuturu583/ros_ship_packages.git
-3.cd ../
-4.sudo apt install ros-kinetic-jsk-*
-5.ros-kinetic-hector-gazebo*
-6.sudo apt install ros-kinetic-nmea*
-7.sudo apt install ros-kinetic-velodyne*
-8.sudo apt install ros-kinetic-nmea*
-9.sudo apt install ros-kinetic-robot-pose-ekf
-10.sudo apt install ros-kinetic-gps*
-11.catkin_make
+1. cd ~/catkin_ws/src
+2. git clone https://github.com/GoodayTH/ros_ship_packages.git
+3. cd ../
+4. sudo apt install ros-kinetic-jsk-* ros-kinetic-hector-gazebo* ros-kinetic-nmea* ros-kinetic-velodyne* sudo apt install ros-kinetic-nmea* ros-kinetic-robot-pose-ekf ros-kinetic-gps* ros-kinetic-tf2-sensor-msgs
+5. catkin_make
 # robot model
 ## ros_ship
 ![simulation on gazebo](https://github.com/hakuturu583/ros_ship_packages/blob/master/images/gazebo.png)
diff --git a/ros_ship_description/world/open_water.world b/ros_ship_description/world/open_water.world
new file mode 100644
index 0000000..a643a20
--- /dev/null
+++ b/ros_ship_description/world/open_water.world
@@ -0,0 +1,94 @@
+<sdf version='1.6'>
+  <world name='default'>
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose frame=''>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.1 0.1 0.1 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.5 -1</direction>
+    </light>
+    <gravity>0 0 -9.8</gravity>
+    <magnetic_field>6e-06 2.3e-05 -4.2e-05</magnetic_field>
+    <atmosphere type='adiabatic'/>
+    <physics name='default_physics' default='0' type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+    <spherical_coordinates>
+      <surface_model>EARTH_WGS84</surface_model>
+      <latitude_deg>0</latitude_deg>
+      <longitude_deg>0</longitude_deg>
+      <elevation>0</elevation>
+      <heading_deg>0</heading_deg>
+    </spherical_coordinates>
+    <state world_name='default'>
+      <sim_time>156 164000000</sim_time>
+      <real_time>0 0</real_time>
+      <wall_time>1504973084 417478576</wall_time>
+      <iterations>0</iterations>
+      <model name='water_surface'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <scale>1 1 1</scale>
+        <link name='top_link'>
+          <pose frame=''>0 0 0 0 -0 0</pose>
+          <velocity>0 0 0 0 -0 0</velocity>
+          <acceleration>0 0 0 0 -0 0</acceleration>
+          <wrench>0 0 0 0 -0 0</wrench>
+        </link>
+      </model>
+      <light name='sun'>
+        <pose frame=''>13 0 10 0 -1.15 0</pose>
+      </light>
+    </state>
+    <gui fullscreen='0'>
+      <camera name='user_camera'>
+        <pose frame=''>77.6242 -98.3572 30.9447 0 0.363643 2.02019</pose>
+        <view_controller>orbit</view_controller>
+        <projection_type>perspective</projection_type>
+      </camera>
+    </gui>
+    <model name='water_surface'>
+      <link name='top_link'>
+        <pose frame=''>0 0 0 0 -0 0</pose>
+        <inertial>
+          <pose frame=''>0 0 0.05 0 -0 0</pose>
+          <mass>2</mass>
+          <inertia>
+            <ixx>0.005</ixx>
+            <ixy>0</ixy>
+            <ixz>0</ixz>
+            <iyy>0.005</iyy>
+            <iyz>0</iyz>
+            <izz>0</izz>
+          </inertia>
+        </inertial>
+        <visual name='top_link_fixed_joint_lump__base_link_visual'>
+          <pose frame=''>0 0 0.1 0 -0 0</pose>
+          <geometry>
+            <mesh>
+              <scale>1 1 1</scale>
+              <uri>model://ros_ship_description/world/others/mesh/WATER_SURFACE.dae</uri>
+            </mesh>
+          </geometry>
+        </visual>
+        <self_collide>0</self_collide>
+        <kinematic>0</kinematic>
+        <gravity>1</gravity>
+      </link>
+      <static>1</static>
+      <pose frame=''>0 0 0 0 -0 0</pose>
+    </model>
+  </world>
+</sdf>
diff --git a/ros_ship_visualization/config/google_statc_map_api_key_sample.yaml b/ros_ship_visualization/config/google_statc_map_api_key_sample.yaml
deleted file mode 100644
index 7885a0c..0000000
--- a/ros_ship_visualization/config/google_statc_map_api_key_sample.yaml
+++ /dev/null
@@ -1 +0,0 @@
-google_static_map_api_key: AI.....

From c3f533a330ba33dfaabe3f0088a0e0555e571391 Mon Sep 17 00:00:00 2001
From: kimtaehyung <taehyeong77@naver.com>
Date: Tue, 26 Mar 2019 17:20:58 +0900
Subject: [PATCH 2/2] Update README.md

---
 README.md | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/README.md b/README.md
index bc026e9..6a36178 100644
--- a/README.md
+++ b/README.md
@@ -1,6 +1,9 @@
 # ros_ship_packages
 USV simulator for ROS
 
+* OS : Ubuntu 16.04
+* ROS : Kinetic
+
 # how to build
 1. cd ~/catkin_ws/src
 2. git clone https://github.com/GoodayTH/ros_ship_packages.git