vrx_classic_customizing_vrx_tutorials

Customizing VRX

Robust autonomous solutions require a physical design and algorithms that have been throughly tested in a variety of environments. The tutorials below illustrate how to customize the USV platform and the operating environment to support development of solutions that are robust to the dynamic ocean environment.

Environment

• Adding VRX course elements: How to create your own VRX course in Gazebo.
• Changing model and environmental parameters: How to change model parameters (hydrodynamics, thrust, etc.) or environmental parameters (wind, waves, etc.) to customize the scenario under test.
• Creating a custom dock: How to create a floating dock (scan and dock) with user specified shape and dimensions.

USV Platform

• Specifying WAM-V propulsion and component configuration: How to create and customize thruster/component locations and performance.
• Existing propulsion configurations: How to use the existing "H", "T" and "X" WAM-V thruster configurations.
• Thruster articulation: How to control the thrust angle of propulsion thrusters.
• Adding components to the WAM-V: How to manually custom the base USV by adding sensors (GPS, camera, ball shooter, etc.).
  • Adding Gazebo camera visualization: How to enable visualization, within Gazebo, of what the robot sees.
• Visualizing with RViz: How to use RViz to see what the robot sensors see.