Notes

• Platform versions: ROS Melodic, Ubuntu 18, Gazebo 9
• Bosch UUV Simulator, https://roscon.ros.org/2018/presentations/ROSCon2018_uuvsimulator.pdf
  • plume tracking
  • Gazebo plugins and ROS modules

Working with uuv_simulator

• from package for ros-kinetic: roslaunch --files uuv_descriptions upload_rexrov.launch shows:

  /opt/ros/melodic/share/uuv_assistants/launch/message_to_tf.launch
  /opt/ros/melodic/share/uuv_descriptions/launch/upload_rexrov_default.launch
  /opt/ros/melodic/share/uuv_descriptions/launch/upload_rexrov.launch
  

  We may not use this package but instead build from workspace uuv_ws.

• from installed workspace: roslaunch --files uuv_descriptions upload_rexrov.launch shows:

  /home/bdallen/uuv_ws/src/uuv_simulator/uuv_descriptions/launch/upload_rexrov.launch
  /home/bdallen/uuv_ws/src/uuv_simulator/uuv_descriptions/launch/upload_rexrov_default.launch
  /home/bdallen/uuv_ws/src/uuv_simulator/uuv_assistants/launch/message_to_tf.launch
  

and roslaunch --files uuv_gazebo_worlds ocean_waves.launch shows:

  /opt/ros/melodic/share/gazebo_ros/launch/empty_world.launch
  /home/bdallen/uuv_ws/src/uuv_simulator/uuv_gazebo_worlds/launch/ocean_waves.launch
  /home/bdallen/uuv_ws/src/uuv_simulator/uuv_assistants/launch/publish_world_ned_frame.launch

Exploring uuv_simulator

From uuv_simulator reference we launch the ocean waves world:

roslaunch uuv_gazebo_worlds ocean_waves.launch

and spawn a UUV:

roslaunch uuv_descriptions upload_rexrov.launch mode:=default x:=0 y:=0 z:=-20 namespace:=rexrov

empty_world.launch

This starts Gazebo defining default parameters and opening /usr/share/gazebo-9/empty.world:

<?xml version="1.0" ?>
<sdf version="1.5">
  <world name="default">
    <!-- A global light source -->
    <include>
      <uri>model://sun</uri>
    </include>
    <!-- A ground plane -->
    <include>
      <uri>model://ground_plane</uri>
    </include>
  </world>
</sdf>

which defines world "default" with light and ground.

ocean_waves.launch