Install Directly on Host

Install ROS and Gazebo

Install ROS Melodic

• Install ROS Melodic per https://wiki.ros.org/melodic/Installation/Ubuntu. Specifically:

  Install sources list, keys, ROS Melodic, initialize rosdep:

  sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
  sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
  sudo apt update
  sudo apt install ros-melodic-desktop-full
  sudo apt install ros-melodic-velodyne-gazebo-plugins python-rosdep
  sudo rosdep init
  rosdep update
  

  and set up .bashrc for working with ROS Melodic:

  source /opt/ros/melodic/setup.bash
  

Install Other ROS Dependencies

wget 'https://raw.githubusercontent.com/bsb808/linux_setup/master/ubuntu/apt_18_ros_extras.sh'
chmod +x apt_18_ros_extras.sh
sudo ./apt_18_ros_extras.sh

Install Gazebo 9

Currently Project DAVE is specific to the latest Gazebo 9 release from the OSRF repositories (as of 7/8/2020, Gazebo 9.13.1).

Option 1: Using script

Install Gazebo 9 per http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install. Specifically:

curl -sSL http://get.gazebosim.org | sh

Without reviewing this script, be careful that you are getting the appropriate version of Gazebo.

Option 2: Step-by-step

It may be safer to use the step-by-step guidance from http://gazebosim.org/tutorials?tut=install_ubuntu&cat=install

After you have setup the package repository and keys, here is an example of the Gazebo/ROS packages to install, see https://github.com/bsb808/linux_setup/blob/master/ubuntu/apt_18_gazebo.sh

Gazebo setup

Upgrade ignition-math:

  sudo apt upgrade libignition-math2

then run Gazebo to verify that it starts:

  gazebo

Verify that a supported version of gazebo is installed with

gazebo --version

which should yield something like...

Gazebo multi-robot simulator, version 9.13.1

Graphics Drivers

If using the NVidia graphics card, install the NVidia driver instead of using Ubuntu's default video driver: https://linuxconfig.org/how-to-install-the-nvidia-drivers-on-ubuntu-18-04-bionic-beaver-linux

• Install ROS effort controllers because the manipulator arm requires effort_controllers/JointEffortController:

  sudo apt-get install ros-melodic-effort-controllers
  

Install Dave and dependencies from source

Clone the source repositories.

• Follow instructions at this link to clone the source repositories you will work with.

Build

  cd ~/uuv_ws
  catkin_make

Source new setup.bash by typing this:

source ~/uuv_ws/devel/setup.bash

Also, put source ~/uuv_ws/devel/setup.bash in your .bashrc file.

Test your Installation

You may test your installation by running the reference configuration

roslaunch uuv_dave uuv_dave.launch

which should generate a gazebo view similar to this:

More details are discussed at uuv_simulator_reference.