GNCea

Guidance Navigation Control for SEA

An AUV simulator developed for Palouse RoboSub based on ROS 2 Jazzy and Gazebo Harmonic, featuring custom C++ plugins for thrust allocation, buoyancy compensation, and hydrodynamic drag modeling. The simulator supports real-time 6-DOF teleoperation, autonomy modules for depth and altitude regulation, and integrated onboard perception through a forward-facing camera and 3D LiDAR sensor for image and point cloud generation, enabling environmental mapping, navigation, and autonomy testing in dynamic underwater environments.

Screencast.from.2025-08-31.23-32-31.mp4

Screencast.from.2025-08-29.22-30-01.mp4

PREREQUISITES

Assuming ROS2 jazzy and gazebo harmonic is installed, other dependencies need to be installed to run this project

cd GNCea
sudo apt update && sudo apt install -y \
  ros-jazzy-desktop ros-jazzy-ros-gz-sim ros-jazzy-ros-gz-bridge ros-jazzy-xacro \
  python3-colcon-common-extensions python3-rosdep git && \
sudo rosdep init || true && rosdep update && \
rosdep install --from-paths src --ignore-src -r -y --rosdistro jazzy

To build:

colcon build
source install/setup.bash

Use whatever commands below to launch any desired launch file.

cube.urdf, an example AUV plugin implementation that is simple, not parameterized

To launch

ros2 launch auv_description cube_thrust_test.launch.py

ros2 launch auv_description cube_thrust_test_water.launch.py

To activate teleoperation

ros2 run auv_description wasd_teleop.py   --ros-args -p topic:=/auve1/force_body -p force:=50.0 -p decay:=1.0 -p rate_hz:=500000000.0

force, decay and rate_hz can be edited as you see fit, just change the number in the teleop launch command.

Some commands I used to test stuff out:

ros2 run auv_description wasd_teleop.py   --ros-args     -p force_topic:=/auve1/force_body     -p force:=100.0     -p decay:=1.0     -p rate_hz:=12000000000.0 -p torque:=1.0

ros2 run auv_description wasd_teleop.py   --ros-args     -p force_topic:=/auve1/force_body     -p force:=500.0     -p decay:=1.0     -p rate_hz:=1200000000.0

auv.urdf, an example AUV plugin implementation that is parameterized

To launch auv.urdf

ros2 launch auv_description testing.launch.py

Activate camera bridge

ros2 run ros_gz_bridge parameter_bridge   /cube/image_raw@sensor_msgs/msg/Image@gz.msgs.Image   /cube/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo   --ros-args -r /cube/image_raw:=/camera/image_raw -r /cube/camera_info:=/camera/camera_info

Show camera feed

ros2 run image_tools showimage -r image:=/camera/image_raw

Activate teleop using the previous commands

To test lidar

ros2 launch auv_description view_lidar.launch.py

Rviz will open up automatically, set fixed frame to auv/cube_link/lidar_link_sensor. Add pointcloud2 by topic, and set topic to scan/points.

Teleoperate using previous commands.

To fire torpedos

ros2 topic pub /shoot_torpedo std_msgs/msg/Bool "data: true"

GUPPY, AUV for 2026 robosub competition

To launch guppy:

ros2 launch auv_description guppy_display.launch.py

To launch slider teleoperation:

ros2 run auv_description guppy_control_test.py

Experimental Control system environment (Gravity & Buoyancy turned off)

To launch experimental control world:

ros2 launch auv_description controlsystemExperimental.launch.py 

To use sliders:

ros2 run auv_description guppy_control_test.py

Woollet Pool world

To launch Woollet pool world:

ros2 launch auv_description guppy_woolletpool.launch.py 

To use sliders:

ros2 run auv_description guppy_control_test.py

TO ACTIVATE IMU/ALTIMETER ON GUPPY

activate IMU bridge:

ros2 run ros_gz_bridge parameter_bridge \
  /imu@sensor_msgs/msg/Imu@gz.msgs.IMU

activate altimeter bridge:

ros2 run ros_gz_bridge parameter_bridge \
  /altimeter@ros_gz_interfaces/msg/Altimeter@gz.msgs.Altimeter

bridge both IMU & altimeter at the same time:

ros2 run ros_gz_bridge parameter_bridge \
  /imu@sensor_msgs/msg/Imu@gz.msgs.IMU \
  /altimeter@ros_gz_interfaces/msg/Altimeter@gz.msgs.Altimeter

TO ACTIVATE RGBD AND CAMERAS ON GUPPY

bridge rgbd on guppy:

ros2 run ros_gz_bridge parameter_bridge   /guppy/camera/points@sensor_msgs/msg/PointCloud2@gz.msgs.PointCloudPacked   /guppy/camera/image@sensor_msgs/msg/Image@gz.msgs.Image   /guppy/camera/depth_image@sensor_msgs/msg/Image@gz.msgs.Image   /guppy/camera/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo

bridge corner cameras on guppy:

ros2 run ros_gz_bridge parameter_bridge \
  /guppy/raw_1/image@sensor_msgs/msg/Image@gz.msgs.Image \
  /guppy/raw_1/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo \
  /guppy/raw_2/image@sensor_msgs/msg/Image@gz.msgs.Image \
  /guppy/raw_2/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo \
  /guppy/raw_3/image@sensor_msgs/msg/Image@gz.msgs.Image \
  /guppy/raw_3/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo \
  /guppy/raw_4/image@sensor_msgs/msg/Image@gz.msgs.Image \
  /guppy/raw_4/camera_info@sensor_msgs/msg/CameraInfo@gz.msgs.CameraInfo

TO ECHO DVL ON GUPPY

gz topic -e -t /guppy/dvl

Please not that a node will be neccesary to bridge dvl data so that you can listen to the topic.

2025 AUTONOMY CHALLENGE TESTING

This is my attempt at 2025s game. This was made so I could test opencv navigation and slaloming.

https://drive.google.com/file/d/1oP0x0Nx4gbNLD_p_7pBtzQwXXJvDacup/view?usp=sharing

To test autonomy test 2:

ros2 launch auv_autonomy autonomytest2.py

Contact and Sponsorship

Need to get in touch? Reach out to robosub.vcea@wsu.edu.

We are sponsored by many generous companies and people, including:

• OSH Park PCBs
• Blue Robotics
• Real Digital
• Solidworks
• Vectornav
• JoeScan
• WaterLinked
• LattePanda
• Tektronix
• And many many other personal supporters through their generous donations!

Do you like our work? Consider sponsoring our team!