Simulator

ROV/AUV Simulator

Downloading and installing

In our project we will use UUV Simulator. This simulation package is a set of plugins for Gazebo for underwater robotics and ROS modules (look their wiki for requirements and dependencies).

Creating and configuring a workspace

If you don't have the ROS workspace yet, you should run the following and then clone the uuv_simulator package in the ~/catkin_ws/src folder (as catkin_ws folder you can use any folder you want):

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
wstool init

You can install the package wstool using sudo pip install wstool.

Configure the environment variables by adding the following lines in ~/.bashrc (replace kinetic with indigo depending on the ROS version you are using).

Note: If you install a version of Gazebo newer than 7.0, you might need to adjust gazebo-7.0 below. You can find out which version you are using by typing gazebo --version in your terminal.

source /usr/share/gazebo-7/setup.sh
source /opt/ros/kinetic/setup.bash
source $HOME/catkin_ws/devel/setup.bash

export GAZEBO_PREFIX=$HOME/catkin_ws/install
export GAZEBO_RESOURCE_PATH=${GAZEBO_PREFIX}/share/gazebo-7.0:${GAZEBO_RESOURCE_PATH}
export GAZEBO_MODEL_PATH=${GAZEBO_PREFIX}/share/gazebo-7.0/models:${GAZEBO_MODEL_PATH}
export GAZEBO_PLUGIN_PATH=${GAZEBO_PREFIX}/lib:${GAZEBO_PREFIX}/lib/x86_64-linux-gnu:${GAZEBO_PLUGIN_PATH}

After saving these changes, remember to source the .bashrc by either typing source ~/.bashrc in your terminal or reopening the terminal. Finally, clone the UUV simulator package in the folder ~/catkin_ws/src and build your workspace:
git clone https://github.com/uuvsimulator/uuv_simulator
cd ~/catkin_ws
catkin_make install

In case of errors try:

sudo apt-get dist-upgrade
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install ros-kinetic-control-toolbox

Future plans

Later we will use UWsim with this plugin or UE4 with UE plugin for rendering image from camera sensor.

Downloading and installing UWsim+Gazebo simulator

1. Create new directory for all files (e.g. Simulator) and src folder for all packages:
   mkdir -p ~/Simulator/src

2. Clone all source files from their repositories to src folder:
   git clone https://github.com/freefloating-gazebo/freefloating_gazebo (A Gazebo plugin to simulate underwater vehicles and visualize with UWsim)
   git clone https://github.com/freefloating-gazebo/freefloating_gazebo_demo (This package contains two examples of underwater robot using the freefloating_gazebo plugin)

3. Source important stuff:
   source /opt/ros/kinetic/setup.bash

4. Build a catkin workspace:
   cd ~/Simulator/
catkin_make

5. Download UWsim packages (p. 5):
   a) Create .rosinstall file inside catkin directory (touch .rosinstall in Simulator folder) with the following contents:

    - other: {local-name: /opt/ros/kinetic/share/ros}
    - other: {local-name: /opt/ros/kinetic/share}
    - other: {local-name: /opt/ros/kinetic/stacks}
    - setup-file: {local-name: /opt/ros/kinetic/setup.sh}
    - git: {local-name: src/uwsim_osgocean, 
    	uri: 'https://github.com/uji-ros-pkg/uwsim_osgocean.git', 
    	version: kinetic-devel}
    - git: {local-name: src/uwsim_osgworks, 
    	uri: 'https://github.com/uji-ros-pkg/uwsim_osgworks.git', 
    	version: kinetic-devel}
    - git: {local-name: src/uwsim_bullet, 
    	uri: 'https://github.com/uji-ros-pkg/uwsim_bullet.git', 
    	version: kinetic-devel}
    - git: {local-name: src/uwsim_osgbullet, 
    	uri: 'https://github.com/uji-ros-pkg/uwsim_osgbullet.git', 
    	version: kinetic-devel}
    - git: {local-name: src/underwater_simulation, 
    	uri: 'https://github.com/uji-ros-pkg/underwater_simulation.git', 
    	version: kinetic-devel}
   

   b) Then download the sources with:
   rosws update

   c) Install the dependencies:
   rosdep install --from-paths src --ignore-src --rosdistro kinetic -y

6. Now let's build all stuff:
   catkin_make_isolated --install
catkin_make_isolated

7. source devel_isolated/setup.bash

Testing

1. roscore

2. Synchronize UWsim and Gazebo files (to do once)
   This will scan the launchfile to create urdf from xacro files to be used in UWsim:
   roslaunch freefloating_gazebo_demo g500arm5e.launch parse:=true

3. Launch the simulators
   This launches UWsim for the graphical part, and Gazebo to allow dynamic simulation:
   UWsim: roslaunch freefloating_gazebo_demo g500arm5e.launch
   Gazebo: roslaunch freefloating_gazebo_demo g500arm5e_gazebo.launch uwsim:=false

4. Run the demo
   This will unpause the physics (that are paused by default) and run the open-loop recovery of the black box:
   rosrun freefloating_gazebo_demo freefloating_gazebo_demo

In case of errors

Try:
sudo apt-get dist-upgrade
sudo apt-get update
sudo apt-get upgrade
sudo apt-get install ros-kinetic-control-toolbox

Copy files from freefloating_gazebo_demo/config to install_isolated folder

Try rosrun freefloating_gazebo_demo freefloating_gazebo_demo after source devel/setup.bash

Structure

Simulator/ -- WORKSPACE
__src/ -- SOURCE SPACE
____CMakeLists.txt -- 'Toplevel' CMake file, provided by catkin
____freefloating_gazebo/
____freefloating_gazebo_demo/
____underwater_simulation/
____uwsim_bullet/
____uwsim_osgbullet/
____uwsim_osgocean/
____uwsim_osgworks/
__
Ручняа подача команды аппарату:
rosrun uwsim setVehicleVelocity /dataNavigator 0.2 0 0 0 0 0
Помощь по составлению YAML сообщений: http://wiki.ros.org/ROS/YAMLCommandLine

http://www.irs.uji.es/uwsim/wiki/index.php?title=First_steps:_Interacting_with_UWSim#ROS_interfaces_interaction