Copy the files in your Workspace
cd ~/name_of_workspace
git clone https://github.com/castilloherrera/Underwater_ECA_A9.git
Then, build your workspace using
With the Simulator Underwater
git clone https://github.com/castilloherrera/Simulator_Underwater.git
cd ~/catkin_ws
catkin_make install
or
cd ~/catkin_ws
catkin build
(in case you are using catkin_tools.)
To run a demosntration with the underwater, you can run a Simulator Underwater scenario, such as
roslaunch worlds ocean_waves.launch
and then:
-For a circular trajectory :
roslaunch gazebo_und start_trajectory_control_circle.launch
-For a rectangle trajectory :
roslaunch gazebo_und start_trajectory_control_rectangle.launch
-For a underwater fleet :
roslaunch gazebo_und start_underwater_fleet.launch
WARNING:
By default the simulation of underwater fleet, starts with 4 underwater for change this option :
-If you want 20 underwaters (go to -> /gazebo_und/launch/start_underwater_fleet.launch) :
uncomment :
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find control)/rviz/eca_a9_control_fleet_20.rviz"/>
and comment :
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find control)/rviz/eca_a9_control_fleet_4.rviz"/>
Then, go to -> /gazebo_und/launch/underwater_fleet/ten_underwater_row.launch and uncomment all the underwaters.
-If you want 10 underwaters (go to -> /gazebo_und/launch/start_underwater_fleet.launch) :
uncomment :
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find control)/rviz/eca_a9_control_fleet_10.rviz"/>
and comment:
<node name="rviz" pkg="rviz" type="rviz" output="screen" args="-d $(find control)/rviz/eca_a9_control_fleet_4.rviz"/>
Then, go to -> /gazebo_und/launch/underwater_fleet/ten_underwater_row.launch and uncomment the next 3 underwaters.