Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic on Ubuntu 24.04 based on VRX
Screencast.from.2024-12-29.18-36-39.webm
- Download ROS 2 Jazzy
- Download Gazebo Harmonic
- Download ros_gz with
sudo apt-get install ros-jazzy-ros-gz - Create a ROS 2 workspace and clone this repository into the /src directory
- Run the following terminal commands in the root directory of the ROS 2 workspace:
colcon build
source install/setup.bash
ros2 launch wamv_gz wamv_launch.py- In a separate terminals you can run the following commands to move the WAM-V:
# Thruster activation. Recommended range is -10.0 to 10.0
ros2 topic pub /wamv/thrusters/left/thrust std_msgs/msg/Float64 "data: 10.0"
ros2 topic pub /wamv/thrusters/right/thrust std_msgs/msg/Float64 "data: -4.0"- Other topics are as follows and can be seen using
ros2 topic echo <topic_name>:
/wamv/ground_truth/odometry
/wamv/sensors/camera/front/camera_info
/wamv/sensors/camera/front/image
/wamv/sensors/front_lidar/points
/wamv/sensors/front_lidar/scan
/wamv/sensors/gps/gps/fix
/wamv/sensors/imu/imu/data