Launch ROV or AUV simulation in Gazebo. Calls bringup.py.
To see parameters: ros2 launch --show-args orca_bringup sim_launch.py
Bring up all core ROV and AUV nodes, including ORB_SLAM2 and Nav2. Calls navigation_launch.py.
Nav2 navigation launch file, modified to avoid launch the velocity smoother.
In a terminal run:
source src/orca4/setup.bash
ros2 launch orca_bringup sim_launch.py
Execute a mission in a 2nd terminal:
source src/orca4/setup.bash
ros2 run orca_bringup mission_runner.py
It is possible to launch Gazebo and ArduSub and control the sub using MAVProxy.
Launch a minimal system:
ros2 launch orca_bringup sim_launch.py base:=false mavros:=false nav:=false rviz:=false slam:=false
Launch MAVProxy in a 2nd terminal:
mavproxy.py --master tcp:127.0.0.1:5760 --sitl 127.0.0.1:5501 --out 127.0.0.1:14550 --out 127.0.0.1:14551 --out udp:0.0.0.0:14550 --console
You can use MAVProxy to send commands directly to ArduSub:
arm throttle
rc 3 1450
rc 3 1500
mode alt_hold
disarm
RC channels:
- RC 3 -- vertical
- RC 4 -- yaw
- RC 5 -- forward
- RC 6 -- strafe
This will bring up a minimal system with SLAM and RViz:
ros2 launch orca_bringup sim_launch.py base:=false mavros:=false nav:=false
You can use MAVProxy to drive the sub around the seafloor and build a map.
The simulation uses Gazebo camera sensors to generate uncompressed 800x600 images in an ideal stereo configuration. The frame rate is throttled to 5Hz to reduce CPU load in ORB_SLAM2, but it can easily go higher.