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 rosdep init
  rosdep update
  

  and set up .bashrc for working with ROS Melodic:

  source /opt/ros/melodic/setup.bash
  

Install Other ROS Dependencies

See https://github.com/bsb808/linux_setup/blob/master/ubuntu/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 3/13/2020, Gazebo 9.12).

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 9.12.0

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

Dave repositories

Project Dave consists of this repository along with other UUV components available online. Although some of the UUV components are available as packages, we recommend that you download them from source and work with them in your own uuv_ws ROS workspace so that you can modify your work. The cloning instructions below assume you have SSH keys setup with github/bitbucket.

Create your uuv_ws workspace:

mkdir -p ~/uuv_ws/src

Clone this repository and other relevant repositories provided under Field-Robotics-Lab:

cd ~/uuv_ws/src
git clone [email protected]:Field-Robotics-Lab/dave.git
git clone [email protected]:Field-Robotics-Lab/gtri_based_sonar.git
git clone [email protected]:Field-Robotics-Lab/nps_uw_sensors_gazebo.git

UUV Simulator repositories

Clone some of the UUV Simulator repositories:

cd ~/uuv_ws/src
git clone [email protected]:uuvsimulator/uuv_simulator.git
git clone [email protected]:uuvsimulator/rexrov2.git
git clone [email protected]:uuvsimulator/uuv_manipulators.git
git clone [email protected]:uuvsimulator/eca_a9.git

WHOI DSL repositories

Clone repositories from WHOI DSL to use the DVL plugin

cd ~/uuv_ws/src
git clone [email protected]:whoidsl/ds_sim.git
git clone [email protected]:whoidsl/ds_msgs.git

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.