/minion_usv

Vehicle model description and configuration files for the Minion USV test water surface vehicle.

Primary LanguageCMakeApache License 2.0Apache-2.0

Minion USV

This repository contains the robot description and necessary launch files to simulate the Minion USV (unmanned surface vehicle) on Unmanned Underwater Vehicle Simulator (UUV Simulator).

This work is in development at Ingeniarius, Lda. and Instituite of Systems and Robotics University of Coimbra within the scope of MS thesis "Localization of an unmanned underwater vehicle using multiple water surface robots, multilateration, and sensor data fusion".

Requirements

Installation

Clone this package in the src folder of you catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/fredvaz/minion_usv.git

and then build your catkin workspace

cd ~/catkin_ws
catkin_make # or <catkin build>, if you are using catkin_tools

Running with UUV Simulator

To run a demonstration with the vehicle with teleoperation, you can run a UUV simulator Gazebo scenario, such as

roslaunch uuv_descriptions ocean_waves.launch

and then

roslaunch minion_usv_gazebo start_pid_controller_demo.launch

License

Minion USV package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.