usyd-rowbot / simulation

Simulation assets for the rowbot team

Rowbot

Sydney University Team Robotx Challenge 2018

Description

This is a simulation stack for the Rowbot team. It includes Kingfisher and Wam-V robot descriptions, training worlds, to allow software development.

Use

roslaunch robotx_gazeo sandisland.launch
# Or with parameters
roslaunch robotx_gazeo sandisland.launch usv:=kingfisher world:=ocean_buoys.world

Name	Values	Description
usv	kingfisher wamv	The robot model to work with
world	ocean_buoys.world sandisland_buoys.world sandisland.world	World description

Sources

Most of wamv_description and robotx_gazebo come from the official osrf/vmrc Mercurial repository (https://bitbucket.org/osrf/vmrc), and are developped for te Virtual Maritime Challenge.

They included the sources of the usv_gazebo_plugins inside for practical reasons (these can be find at https://github.com/bsb808/usv_gazebo_plugins).

The kingfisher_description is an extension of the Clearpath's official URDF description (accessible at https://github.com/kf/kingfisher).

Dependencies

Tested platform : Ubuntu 16.04 LTS, ROS Kinetic Kame, Gazebo 7

Velodyne Simulator

Gazebo plugin to simulate Gazebo LIDAR.

https://bitbucket.org/DataspeedInc/velodyne_simulator/

URDF tutorials

Optionnal dev depedency. Used to check the consistency of URDF descriptions

simulation's Issues

move descriptions & merge them in rowbot_descriptions