Forked from https://github.com/disaster-robotics-proalertas/usv_sim_lsa.
You need to have Ubuntu 20.04 LTS, ROS Noetic, and Gazebo 11 installed and set up with a catkin workspace before starting. Also install Open Scene Graphics version 3.2.3.
Now run the following commands to download the dependencies of usv_sim:
sudo apt-get install python3-rosinstall python3-rosinstall-generator python3-wstool build-essential python3-rosdep python-wxtools python3-lxml python3-h5py python3-scipy python3-geolinks python3-gdal -y
sudo apt-get install libfftw3-* libxml++2.6-* libsdl-image1.2-dev libsdl-dev -y
Clone the usv_sim repository in the src folder of your catkin workspace:
cd ~/catkin_ws/src
git clone [email protected]:CUSail-Navigation/usv_sim.git
cd usv_sim
git submodule init
git submodule update
git submodule foreach git pull origin master-melodic
The last command above might give you errors. You can safely ignore them. Run the instalation script:
cd ~/catkin_ws/src/usv_sim
chmod +x ./install_usv_sim
./install_usv_sim
Compile the stack:
cd ~/catkin_ws/
catkin_make_isolated --install -j1
source install_isolated/setup.bash
chmod +x ~/catkin_ws/src/usv_sim/uwsim_resources/underwater_simulation/uwsim/src/uwsim
To run a scenario:
roslaunch usv_sim scenario_name.launch parse:=true
roslaunch usv_sim scenario_name.launch parse:=false
The simulation might take some time to initialize if you're launching gazebo for the first time. If the simulation doesn't start you should close it, run gazebo separately (command gazebo in the terminal), wait for gazebo to open (it is downloading some models), close gazebo and then try to run the scenario again.
Make sure your graphic card driver is up to date.