smarc场景的模拟环境___下载.zip

# smarc_simulations Simulation environments for smarc scenarios # Setting up gazebo and uuv_simulator ## Install Follow the instructions on http://gazebosim.org/tutorials?tut=install_ubuntu and in https://github.com/uuvsimulator/uuv_simulator/wiki#using-uuv-simulator-with-ros-kinetic-and-gazebo-7 . Then clone https://github.com/smarc-project/uuv_simulator.git in your catkin workspace. Compile it with `catkin_make`, followed by `catkin_make install`. Then install the following packages: ``` sudo apt-get install ros-kinetic-ros-control ros-kinetic-gazebo-ros-control ros-kinetic-joint-state-controller ``` ## Environment variables Add the following lines to your `.bashrc`, replace `GAZEBO_PREFIX` to be the path to your catkin workspace. ``` source /usr/share/gazebo-7/setup.sh export GAZEBO_MODEL_DATABASE_URI=http://gazebosim.org/models export GAZEBO_PREFIX=$HOME/path/to/your/catkin_ws/install export GAZEBO_RESOURCE_PATH=${GAZEBO_PREFIX}/share/uuv_descriptions:${GAZEBO_RESOURCE_PATH} export GAZEBO_MODEL_PATH=${GAZEBO_PREFIX}/share/uuv_descriptions/worlds:${GAZEBO_MODEL_PATH} export GAZEBO_PLUGIN_PATH=${GAZEBO_PREFIX}/lib:${GAZEBO_PREFIX}/lib/x86_64-linux-gnu:${GAZEBO_PLUGIN_PATH} ``` # Running a basic simulation ## Launching Open a new tab, don't forget to source your catkin workspace every time you do this. Then launch gazebo with an pipeline world using: ``` roslaunch smarc_worlds pipe_following.launch ``` Then we open a new tab and launch a simulation of the small smarc auv: ``` roslaunch smarc_auvs upload_example_auv.launch ``` ## Playing around You can fire the thruster of the AUV by running the following command, feed it a value between 0-100: ``` rostopic pub /example_auv/thrusters/0/input uuv_gazebo_r_plugins_msgs/FloatStamped "header: seq: 0 stamp: secs: 0 nsecs: 0 frame_id: '' data: 100.0" ``` Check `rostopic list` and try to control e.g. the fins. ## Rviz In rviz, you can get the camera image on `/example_auv/example_auv/camera/camera_image` and the left and right side scans on `example_auv/sss_left` and `example_auv/sss_right`, respectively. Rviz configs that display a lot of information for the different auvs are saved in the `smarc_auvs/rviz` folder. To use them, click `File > Open Config` in rviz and navigate to the `.rviz` file that you want to use.