RobotX Gazebo

Introduction

This repo is the gazeo simulation of RobotX competition and is based on vmrc

Prerequisites

1. Install dependencies the shellscript will install the gazebo plugins and python pkgs which we need.

$ source dependencies_common.sh

2. catkin_make

$ cd ~/robotx_gazebo/catkin_ws/
$ catkin_make

Hardware and Model

• WAM-V
  • Hardware
    • HDL32E LiDAR
    • GPS
    • IMU
    • Front rgb camera * 3 (1280*720)
    • dynamincs and thruster * 2
  • Software
    • p3d (3D Position Interface for Ground Truth)
  • Environment
    • wind
    • wave
• Tasks Models
  • Ocean
  • Sky
  • sandisland
  • Green, Yellow, Red, Green buoys
  • Light buoys
  • Black buoys with A3, A5, A7
  • Dock with 3 colors and 3 shapes
  • Detect and deliever buoy

How to run the example

Launch the world

the world is about coarse approximation of the RobotX competition area, Sand Island, Honolulu, HI.

$ source environment.sh
$ roslaunch robotx_gazebo sandisland_nctu.launch

Control the WAM-V

there are 3 ways that can control the WAM-V

1. rostopic pub

$ rostopic pub --once /cmd_drive robotx_gazebo/UsvDrive '{left: 0.5, right: -0.5}'

2. Keyboard

roslaunch robotx_gazebo usv_keydrive.launch

3. Joytick

robotx_gazebo usv_diffdrive.launch

Remind

• Add sensors on robot
  please make the xacro file under vmrc/robotx_gazebo/urdf, and include the file in wamv_description/wamv_robotx_nctu.xacro
  
• Build the worlds about task
  please save the file under vmrc/robotx_gazebo/worlds and chanege the arg "world" in vmrc/robotx_gazebo/sandisland_nctu.launch
  
• Add models or 3D file such like buoys, *.dae ......
  please save the file under vmrc/robotx_gazebo/models

Contacts

• Tony Hsiao [email protected]