This repository holds the code for the Guidance, Navigation and Control (GNC) system on the USV Buoyonce. The USV uses the WAM-V platorm and the Virtual RobotX simulation environment cited below:
@InProceedings{bingham19toward,
Title = {Toward Maritime Robotic Simulation in Gazebo},
Author = {Brian Bingham and Carlos Aguero and Michael McCarrin and Joseph Klamo and Joshua Malia and Kevin Allen and Tyler Lum and Marshall Rawson and Rumman Waqar},
Booktitle = {Proceedings of MTS/IEEE OCEANS Conference},
Year = {2019},
Address = {Seattle, WA},
Month = {October}
}
The original VRX simulator is found at https://github.com/osrf/vrx with detailed tutorials. New launch files and sensor configurations has been added and can be found at: https://github.com/knuttu94/vrx_simulator
- Ubuntu 18.04
- ROS Melodic
- VRX Simulator
TODO:
- Launch simulator
- Launch GNC
- Launch GUI