Welcome to the MATE simulation repository, developed by Columbia University Robotics Club. This repo contains the source code for simulating our underwater vehicle using ROS and Gazebo.
- Note : this simulation is inspired from https://github.com/NishanthARao/ROS-Quadcopter-Simulation , it's a very nice simulation base so please see how the simulation started at your own leisure.
Please make sure to follow the setup steps we've outlined : https://github.com/columbia-university-robotics/mate-rov/tree/master/ROS_2020_TUTORIAL That should set you up with a few packages, running through :
Ubuntu 18
ROS melodic
To start using our simulation system, you can follow the instructions provided in this document.
cd ~/workspace/mate-rov/2020_workspace
catkin_make
source devel/setup.bash
roslaunch mate_simulation mate_rov_gazebo.launch
Make sure you click the terminal you just launched when you want to use the keyboard to control the ROV.
You should now be able to control the ROV :) enjoy
- WARNING : WE DO NOT HAVE ANY LIMITS ON THE PROPELLOR VALUES, press and let the buttons go to avoid sending an absurdly high signal to the propellors.
Moving around:
w r i
a s d f j k l
z c
w/s : Z-axis up/down
a/d : yaw left/right
z/c : roll ccw/cw
r/f : pitch up/down
i/k : forward/reverse
j/l : truck left/right
anything else : stop
CTRL-C to quit the keyboard control and then one more time to close the simulation
For any questions, comments, or concerns, please don't hesitate to reach out to us at curc@columbia.edu. If you are a current member of CURC and would like to contribute to the repository, please reach out to Jonathan Sanabria or Neil Nie via email or Slack.
We are the Columbia University Robotics Club, a student-run organization that develops robots and autonomous systems, both in a competitive and research setting. MATE ROV is an annual underwater vehicle challenge that we participate in. To learn more about our club, please visit columbiaroboticsclub.com