uuv_plume_simulator.zip_ROS_UUV_epzufohtn6uuv_uuvsimulator_水下UUV

# Plume Simulator [](https://travis-ci.org/uuvsimulator/uuv_plume_simulator) [](https://github.com/uuvsimulator/uuv_plume_simulator/issues)  > Link to the `uuv_plume_simulator` repository [here](https://github.com/uuvsimulator/uuv_plume_simulator) > Link to the [documentation page](https://uuvsimulator.github.io/packages/uuv_plume_simulator/intro/) > Chat on [Discord](https://discord.gg/zNauF2F) This repository contains ROS nodes and messages necessary to simulate a turbulent plume, which is an implementation of the algorithm described in [1]. This repository is complementary to the [Unmanned Underwater Vehicle Simulator (UUV Simulator)](https://github.com/uuvsimulator/uuv_simulator), an open-source project extending the simulation capabilities of the robotics simulator Gazebo to underwater vehicles and environments. For installation and usage instructions, please refer to the [documentation pages](https://uuvsimulator.github.io/).  [[1] Yu Tian and Aiqun Zhang, "Simulation environment and guidance system for AUV tracing chemical plume in 3-dimensions," 2010 2nd International Asia Conference on Informatics in Control, Automation and Robotics (CAR 2010), Mar. 2010.](http://ieeexplore.ieee.org/document/5456812/) ## Purpose of the project This software is a research prototype, originally developed for the EU ECSEL Project 662107 [SWARMs](http://swarms.eu/). The software is not ready for production use. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262). ## Requirements To simulate the plume, please refer to the [UUV Simulator](https://github.com/uuvsimulator/uuv_simulator) repository and follow the installation instructions of the package. Then you can clone this package in the `src` folder of you catkin workspace ``` cd ~/catkin_ws/src git clone https://github.com/uuvsimulator/uuv_plume_simulator.git ``` and then build your catkin workspace ```bash cd ~/catkin_ws catkin_make # or <catkin build>, if you are using catkin_tools ``` ## Example of usage The plume simulator package are installed, one demonstration can be run to visualize the plume particles in RViz. To start it, run ``` roslaunch uuv_plume_simulator start_plume_example.launch ``` To start an example of a turbulent plume model, run the script ``` roslaunch uuv_plume_simulator start_demo_turbulent_plume.launch ``` In this case, the plume runs independently from the [UUV Simulator](https://github.com/uuvsimulator/uuv_simulator). In order to start this example using one of the Gazebo worlds from UUV Simulator and therefore use the current velocity topic generated by [a Gazebo plugin](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_world_plugins/uuv_world_ros_plugins/include/uuv_world_ros_plugins/UnderwaterCurrentROSPlugin.hh), start the example first as ``` roslaunch uuv_plume_simulator start_plume_example.launch use_gazebo:=true ``` and then ``` roslaunch uuv_plume_simulator start_demo_turbulent_plume.launch use_gazebo:=true ``` If no current topic is available, the particles will accumulate around the plume source. To add a particle concentration sensor to the vehicle, check the URDF macro snippets found [here](https://github.com/uuvsimulator/uuv_simulator/blob/master/uuv_sensor_plugins/uuv_sensor_plugins_ros/urdf/chemical_concentration.xacro) that can be used to add one to the robot description. ## License `uuv_plume_simulator` is open-sourced under the Apache-2.0 license. See the [LICENSE](https://github.com/uuvsimulator/uuv_plume_simulator/blob/master/LICENSE) file for details.