jhlenes / usv_simulator

USV simulator for ROS Melodic and Gazebo 9. Copied from an old version of https://github.com/osrf/vrx

usv_simulator

A USV simulator for ROS Melodic and Gazebo 9.

Forked from https://bitbucket.org/osrf/vrx.

Installation

Navigate to the src/ folder in your catkin workspace, e.g. cd ~/catkin_ws/src. Then run the following (the command sudo rosdep init will print an error if you have already executed it since installing ROS. This error can be ignored.)

git clone https://github.com/jhlenes/usv_simulator.git
cd ..
sudo apt update
sudo rosdep init
rosdep update
rosdep install --from-paths src --ignore-src --rosdistro=${ROS_DISTRO} -y
catkin_make
source devel/setup.bash

Simulate the Otter USV

roslaunch otter_gazebo otter.launch 

Faster than real-time simulation is also available, if your computer is fast enough. Without a dedicated graphics card this is only useful for simulation without gui, i.e. with argument gui:=false.

roslaunch otter_gazebo otter_fast.launch 

Check out the launch files for available arguments.

Control the Otter USV with the keyboard

roslaunch otter_gazebo keydrive.launch 

usv_simulator's Issues

no odom frame

no odom frame , when I want to run gmapping to build a map.
How to add tne odom frame.

Fail to get otter gazebo

Hello, I followed the installation steps, but the system failed to find Otter Gazebo. How do I install this model?

otter_gazebo: Cannot locate rosdep definition for [velodyne_description]

otter_control

otter_control: Cannot locate rosdep definition for [usv_msgs]

Parameter descriptions

Hi @jhlenes

@jhlenes Thank you for such a nice work.
I was trying to adapt your controller for ROS2. I have some general questions regarding the parameters used, I am sorry for asking such a basic question.
I would like to know what are mass_psi, damp_psi, mass_u, and damp_u. how did you obtain these values?

  // Heading controller
  double mass_psi = 10.0 - 1.0; // Iz - nDotR
  double damp_psi = 20.0; // nR

  // Speed controller
  double mass_u = 29 - 5.0; // m - xDotU: 29 - 5
  double damp_u = 20.0; // xU

Could you please refer to some article or book etc that explains it? I was trying to find it in your thesis pdf but I didn't found.

Looking for your early response.

Regards
Gm