Simulation environment, with gazebo&ros, for the project cabin_auv_ws, a simple demo for rov/auv underwater object tracking based on ros.
A test video can be found in the media folder.
Attention:
the simulation rely on the uuv_simulator.
darknet_ros is also needed for tracking.
Install:
mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/uuvsimulator/uuv_simulator.git
git clone https://github.com/cabinx/cabin_auv_simulation.git
cd ..
catkin_make
Test:
- roslaunch bluerov2h_gazebo bluerov2h_origin.launch
- roslaunch cabin_controllers gazebo_sim.launch
- start your darknet_ros application
- rosrun rqt_reconfigure rqt_reconfigre
- tuning the parameter, turn on the tracking_switch in the rqt_reconfigre panel
The robot can also be controlled by a joystick with the package cabin_teleop.