empty_wamv_tutorial

Spawn an empty WAM-V

Now let's replace the default configuration with an "empty" WAM-V that we can add components and thrusters to.

• Make a directory for your custom WAM-V, eg:

  mkdir ~/my_wamv
  cd ~/my_wamv
  

• Now create two blank configuration files, one for the thrusters and one for the components:

  touch empty_thruster_config.yaml
  touch empty_component_config.yaml
  

• Use generate_wamv.launch.py to create a new urdf for you WAM-V:

  ros2 launch vrx_gazebo generate_wamv.launch.py component_yaml:=`pwd`/empty_component_config.yaml thruster_yaml:=`pwd`/empty_thruster_config.yaml wamv_target:=`pwd`/wamv_target.urdf wamv_locked:=False
  

• See the following confirmation message in the terminal with no errors:

[INFO] [launch]: All log files can be found below /home/caguero/.ros/log/2022-12-22-21-53-36-523165-cold-3060856
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [generate_wamv.py-1]: process started with pid [3060857]
[generate_wamv.py-1] [INFO] [1671742416.733867948] [configure_wamv]: 
[generate_wamv.py-1] Using /home/caguero/my_wamv/empty_thruster_config.yaml as the thruster configuration yaml file
[generate_wamv.py-1] 
[generate_wamv.py-1] [INFO] [1671742416.734094421] [configure_wamv]: 
[generate_wamv.py-1] Trying to open /home/caguero/my_wamv/empty_thruster_config.xacro 
[generate_wamv.py-1] 
[generate_wamv.py-1] [INFO] [1671742416.737537713] [configure_wamv]: 
[generate_wamv.py-1] Using /home/caguero/my_wamv/empty_component_config.yaml as the component configuration yaml file
[generate_wamv.py-1] 
[generate_wamv.py-1] WAM-V urdf file sucessfully generated. File location: /home/caguero/my_wamv/wamv_target.urdf
[INFO] [generate_wamv.py-1]: process has finished cleanly [pid 3060857]

• Launch the example world with your WAM-V:

  ros2 launch vrx_gz competition.launch.py world:=sydney_regatta urdf:=`pwd`/wamv_target.urdf
  

• You should now see that your WAM-V has no thrusters or components:

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