UUV Simulation Setup Guide

This README provides step-by-step instructions to clone, install, and build the uuv_sim repository along with its dependencies. I fixed some bugs in uuv_simulator, enabling trajectory interaction. Using this, I successfully navigated the ECA_9 AUV to follow my planned trajectory. Furthermore, I made additional adjustments to the previous uuv_simulator to make it compatible with Ubuntu 20.04.

1. Install Core Dependencies

On Ubuntu, run:

sudo apt-get update && sudo apt-get install -y \
   nvidia-cuda-toolkit \
   python3-catkin-tools

pip3 install scipy

2. Create a Workspace and Import the Repository

It is recommended to create a dedicated ROS workspace:

mkdir -p ~/uuv_sim_ws/src
cd ~/uuv_sim_ws/src
git clone https://github.com/9woods123/uuv_sim.git

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3. Build the Workspace

cd ~/uuv_sim_ws
catkin_make

After a successful build, source the workspace:

source devel/setup.bash

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4. Example Usage

You can find an online motion planning project at online_motion_planner. This project uses uuv_sim to simulate a torpedo-shaped AUV (ECA_9).