HoloOcean Tools

This repository contains scripts for setting up a development environment for the HoloOcean underwater robotics simulator and the HoloOcean ROS2 ROS2 bridge.

Check out our intro video on Youtube.

Checking out sources

Create a holoocean folder wherever you'd like, but make sure that the holoocean directory is owned by your own user and group, because the scripts will use the same user and group inside the Docker container to access it.

export HOLOOCEAN_DIR=/path/to/holoocean
mkdir -p $HOLOOCEAN_DIR

Clone this repository to /holoocean/holoocean_tools:

cd $HOLOOCEAN_DIR
git clone https://github.com/migeran/holoocean_tools.git

Run the checkout script to check out additional dependencies:

cd $HOLOOCEAN_DIR/holoocean_tools
./checkout.sh

Building with HoloOcean released version

To build with the HoloOcean release version, you only need to run the build.sh script.

Additionally, you can list all available build tasks with build.sh help, and execute a single build task with build.sh <task> selected_only:

cd $HOLOOCEAN_DIR/holoocean_tools
./build.sh

Building HoloOcean development version

To build HoloOcean develop version and it's dependencies, you need to run checkout.sh as follows:

cd $HOLOOCEAN_DIR/holoocean_tools
./checkout.sh --dev-build

This command will check out the Unreal Engine 4 and the HoloOcean sources as well.

Then you need to run the build_all_from_src.sh script.

Additionally, you can list all available build tasks with build_all_from_src.sh help, and execute a single build task with build_all_from_src.sh <task> selected_only:

cd $HOLOOCEAN_DIR/holoocean_tools
./build_all_from_src.sh

This command will build every component from source, including Unreal Engine and the HoloOcean sources.

Test HoloOcean

To test if HoloOcean was set up correctly, an example scene can be run with the following commands:

cd $HOLOOCEAN_DIR/holoocean_tools
./run_holoocean_test.sh

Run the pointcloud visualization demo

If the test has run successfully, the pointcloud visualization demo can be run with the following commands:

cd $HOLOOCEAN_DIR/holoocean_tools
./run_point_cloud_visualization_test.sh

NOTE: On the first run, the simulator needs to generate octrees, which will take some before you can control the robot.

To control the robot, click on the Simulation Control Window and use the keys listed there.

Enter Docker

Once everything is set up, enter the docker container with the following commands:

cd $HOLOOCEAN_DIR/holoocean_tools
./run_holoocean_container.sh

Use Docker In Multiple Terminals

Once the container is running, enter it from another terminal with the following commands:

cd $HOLOOCEAN_DIR/holoocean_tools
./enter_holoocean_container.sh

About Us

This project was implemented as a research project by Migeran - Software Engineering & Consulting. We are available for new software development projects in Robotics, AR/VR and other domains. If you have any questions, you may contact us through our website.