This repository is the home to the source code for the USN SeaDrone simulation implementation, based off the VRX/WAM-V simulation repository (https://github.com/osrf/vrx)
- Provides a platform for the development and testing of the usn SeaDrone.
- Fork of the original osrf/vrx gazebo
- Made to aid development of the real SeaDrone Robot
- Hydrodynamics, localization, navigation
To start the simulation, run the usn_drone_gazebo/launch/usn_drone.launch launch file:
roslaunch usn_drone_gazebo usn_drone.launch
This launch file initializes the example_world gazebo map, and spawns the robot.
The file also launches the localization node, and the cmd_vel, which simplifies the development of autonomous navigation.
The repository implements a PD+LOS algorithm for navigation, as a ROS action server.
rosrun usn_navigation server_pd_los.py
The action server takes a 2DPoseArray, consisting of n poses.
When the server receives a goal, it iterates through the list of positions (x, y) and publishes on the 'cmd_vel' topic, navigating towards the next position.
rosrun usn_navigation visualize_path_taken.py will subscribe to the localization of the robot and publish a Path message which may be viewed in RviZ.
- Edvart Grüner Bjerke
@InProceedings{bingham19toward,
Title = {Toward Maritime Robotic Simulation in Gazebo},
Author = {Brian Bingham and Carlos Aguero and Michael McCarrin and Joseph Klamo and Joshua Malia and Kevin Allen and Tyler Lum and Marshall Rawson and Rumman Waqar},
Booktitle = {Proceedings of MTS/IEEE OCEANS Conference},
Year = {2019},
Address = {Seattle, WA},
Month = {October}
}
- Carlos Aguero caguero@openrobotics.org
- Michael McCarrin mrmccarr@nps.edu
- Brian Bingham bbingham@nps.edu