hydronautics-team / simulator

Hydronautics team simple AUV simulator based on Gazebo for testing control algorithms

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.

simulator's Issues

bottom_obj.py crashes on launch

pinger_flare = random.sample([flare_1, flare_2], 1)

returns 2D array.

82 f" <arg name="x" value="{pinger_flare[0] + 0.2}" />\n"
83 f" <arg name="y" value="{pinger_flare[1] + 0.2}" />\n"
pinger_flare[0] change to pinger_flare[0][0]

ROV model positioning

Модель робота, которая передается газебо бриджу, повернута на 90 градусов против часовой стрелки. При этом визуально все в порядке, и камеры расположены верно

Simulator crashes on launch

после билда при попытке запуска через start_simulation.bash симулятор крашится на запуске

$ bash start_simulation.bash 
Traceback (most recent call last):
  File "bottom_obj.py", line 11, in <module>
    my_file.write("<?xml version=\"1.0\" encoding=\"UTF-8\"?>\n"
TypeError: can only concatenate list (not "float") to list
... logging to /home/maharius/.ros/log/549eeae2-3511-11ed-ac1f-f73bffe4c51d/roslaunch-Terra-13070.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

RLException: while processing /home/maharius/hydronautics_code/simulator/src/auv_gazebo/launch/bottom_objects.launch:
Invalid roslaunch XML syntax: no element found: line 1, column 0
The traceback for the exception was written to the log file

log file attached
roslaunch-Terra-14196.log