smarc_simulations

Simulation environments for smarc scenarios

Setting up gazebo and uuv_simulator

Install

Follow the instructions on http://gazebosim.org/tutorials?tut=install_ubuntu and in https://github.com/uuvsimulator/uuv_simulator/wiki#using-uuv-simulator-with-ros-kinetic-and-gazebo-7 .

Then clone https://github.com/smarc-project/uuv_simulator.git in your catkin workspace. Compile it with catkin_make, followed by catkin_make install.

Then install the following packages:

sudo apt-get install ros-kinetic-ros-control ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller

Environment variables

Add the following lines to your .bashrc, replace GAZEBO_PREFIX to be the path to your catkin workspace.

source /usr/share/gazebo-7/setup.sh
export GAZEBO_MODEL_DATABASE_URI=http://gazebosim.org/models
export GAZEBO_PREFIX=$HOME/path/to/your/catkin_ws/install
export GAZEBO_RESOURCE_PATH=${GAZEBO_PREFIX}/share/uuv_descriptions:${GAZEBO_RESOURCE_PATH}
export GAZEBO_MODEL_PATH=${GAZEBO_PREFIX}/share/uuv_descriptions/worlds:${GAZEBO_MODEL_PATH}
export GAZEBO_PLUGIN_PATH=${GAZEBO_PREFIX}/lib:${GAZEBO_PREFIX}/lib/x86_64-linux-gnu:${GAZEBO_PLUGIN_PATH}

Running a basic simulation

Launching

Open a new tab, don't forget to source your catkin workspace every time you do this.

Then launch gazebo with an pipeline world using:

roslaunch smarc_worlds pipe_following.launch

Then we open a new tab and launch a simulation of the small smarc auv:

roslaunch smarc_auvs upload_example_auv.launch

Playing around

You can fire the thruster of the AUV by running the following command, feed it a value between 0-100:

rostopic pub /example_auv/thrusters/0/input uuv_gazebo_r_plugins_msgs/FloatStamped "header:
  seq: 0
  stamp:
    secs: 0
    nsecs: 0
  frame_id: ''
data: 100.0"

Check rostopic list and try to control e.g. the fins.

Rviz

In rviz, you can get the camera image on /example_auv/example_auv/camera/camera_image and the left and right side scans on example_auv/sss_left and example_auv/sss_right, respectively.

Rviz configs that display a lot of information for the different auvs are saved in the smarc_auvs/rviz folder. To use them, click File > Open Config in rviz and navigate to the .rviz file that you want to use.