VantTec UV simulation

This is the USV and UUV simulation repository. It runs on Gazebo and requires the package uuv_simulator to be installed.

To install the repo just run init_workspace.sh

To run the USV simulator, in a terminal write the following commands:

roslaunch uv_worlds lake_challenges.launch
roslaunch vehicle_descriptions vtec_s3.launch 
roslaunch usv_master usv_master.launch 

To run the UUV simulator, in a terminal write the following commands:

roslaunch uv_worlds lake.launch
roslaunch vehicle_descriptions vtec_u3.launch 
rosrun vehicle_descriptions gazebo_interface
roslaunch vanttec_uuv uuv_simulation.launch 

run uuv simulation file from vanttec_uuv package

To run fixed simulation, in a terminal write the following commands:

roslaunch vehicle_descriptions uuv_sim.launch

Scenario tasks

• Tasks2020

To run the UV simulator for Aiming System, in a terminal write the following command:

roslaunch shooter_description shooter_gazebo.launch

To run the node for shooting the torpedoes, in a terminal write the following command:

rosrun shooter_description shoot.py

uuv_sensor_plugins: Simulated Sensors for UUVs

Contents:

• uuv_sensor_plugins: Contains gazebo plugins for various simulated sensors.
• uuv_sensor_ros_plugins: ROS wrappers for each of the above.