running_roboboat_tutorial

This page provides a description of the environment and demonstrates how to spawn a USV in this world. It also assume that you have gone through the installation tutorial and are familiar with the basics of running the Gazebo simulator and ROS development tools.

The Nathan Benderson Park environment

The venue for the Roboboat competition is Nathan Benderson Park, in Sarasota County, Florida, USA:

Running the empty world

This can take some time due to size of the environment. The first time this world is launched, it will also download 3D models from the vrx collection on Fuel

ros2 launch vrx_gz vrx_environment.launch.py world:=nbpark

Adding a vehicle

To open the world file with one of the example Roboboat vehicles (or your own custom vehicle), you'll need to add it to the world. Open the nbpark.sdf file, located in ~/vrx_ws/src/vrx/vrx_gz/worlds, and add the following code block:

<!-- RoboBoat 01 -->
<include>
  <name>roboboat01</name>
  <pose>-185 1088 0 0 0 0</pose>
  <uri>roboboat01</uri>
</include>

Launch the modified world:

ros2 launch vrx_gz vrx_environment.launch.py world:=nbpark

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