ORCA Work Package 1 Repository

This github organisation holds core packages for our work

Installation of the full demo environment

note: this project is designed around ROS-Kinetic and Gazebo-7.16, other configurations may also work but YMMV.

downloads

clone the following packages into your ROS workspace src/ folder:

simulation environment [AUTH NEEDED]: git clone https://github.com/YanielCarreno/orcawp1_integration

modified simulator: git clone https://github.com/ORCA-WP1/uuv_simulator

current controller: git clone https://github.com/ORCA-WP1/current_controller

tidal disturbances [AUTH NEEDED]: git clone https://github.com/ORCA-WP1/environment_controller

mounting for iiwa14 on rexrov2: git clone https://github.com/ORCA-WP1/rexrov2_iiwa14

Rexrov2 robot: git clone https://github.com/ORCA-WP1/rexrov2

iiwa manipulator: git clone https://github.com/ORCA-WP1/iiwa_stack

dependencies

ensure your apt packages are up to date: sudo apt-get update then sudo apt-get upgrade

install any missing dependencies with: rosdep install --from-paths src --ignore-src -r -y

build

navigate to your workspace folder one level up then: catkin_make to build all the packages

Usage:

ORCAWP1 Experiment: Simulation Scenario

to run default simulation:

roslaunch orcawp1_integration integration_scenario.launch

to run with rexrov2 and iiwa14 manipulator:

roslaunch orcawp1_integration integration_scenario_rexrov2_iiwa14.launch

[WIP] to run with blurov2 and hdt manipulator:

roslaunch orcawp1_integration integration_scenario_bluerov2_hdt.launch

launch arguments

disturbances from file: disturbances:=true

random disturbances: random_disturbances:=true

tidal_currents: tidal_current:=true