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Hydronautics simulator

Hydronautics Gazebo simulation for SAUVC and TEKNOFEST based on uuv_simulator for testing control algorithms

Run

SAUVC

sudo ./run_sauvc.sh

TEKNOFEST

Build docker image:

sudo docker build -t hydronautics/simulator:teknofest -f Dockerfile.teknofest .

Run docker container:

sudo ./run_teknofest.sh

Development

Build

  1. git submodule update --init --recursive
  2. source /opt/ros/noetic/setup.bash
catkin_make

Running

To run the simulator, use launch file:

source devel/setup.bash
roslaunch Simulation.launch

Run rtabmap mapping

roslaunch rtabmap_ros rtabmap.launch \
rtabmap_args:="--delete_db_on_start" \
rgb_topic:=/rov_model_urdf/camera_depth/color/image_raw \
depth_topic:=/rov_model_urdf/camera_depth/depth/image_raw \
camera_info_topic:=/rov_model_urdf/camera_depth/color/ \
camera_info frame_id:=camera_depth approx_sync:=false \
rgbd_sync:=true

Cameras

UV has 5 cameras:

  • 1 front camera
  • 1 front depth camera
  • 1 bottom camera

Cameras' topics: /rov_model_urdf/camera_bottom/image_raw /rov_model_urdf/camera_front/image_raw /rov_model_urdf/camera_depth/color/image_raw /rov_model_urdf/camera_depth/depth/image_raw

To run depth camera visualization write in terminal:

rosrun rviz rviz

Sensors

UV has IMU sensor

Custom Gazebo plugins

model_move_plugin was written to move UV. Through publishing twist messages you can control robots's planar movements and its hight. Odom message can inform you about robot's position, orientation and twist parameters.

Will be added

  • Depth sensor

Will be fixed

Bad physics. Buoyancy and hydrodynamic plugins will be fixed.