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Welcome to the AUV-ROS-Simulation wiki!

To contribute or edit, please clone it to your local repository using git clone https://github.com/auvzhcet/AUV_ROS_Simulation.wiki.git

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Introduction

This repository gives the insights for designing 3-D models for arenas and controlling of AUV in simulations.

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Content

1. To open the simulation
2. To import these models in Gazebo GUI
3. Softwares used
4. Debugging
5. Resources/Tutorials

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To open the simulation

1. Copy all the model folders present in a. SAVe folder

sea_simulation/models_sea/SAVe_models

b. SAUVC folder

sea_simulation/models_sea/SAUVC_models

into your Gazebo directory

~/.gazebo/models/

2. Navigate to

cd /home/AUV_SOFTWARE/sea_simulation/

and run

gazebo sea_simul.world

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To import these models in Gazebo GUI

1. Repeat step 1 of To open the simulation
2. Launch gazebo using gazebo
3. Drag and drop the props from the insert dropdown menu.

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To build your own props and import it in Gazebo

To import your own model in gazebo follow this tutorial: Download a 3D model and load it into a Gazebo simulation If the objects are static you can keep the values of <inertia> tag 0 0 0

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Softwares used

1. Google Sketchup Pro 2019
2. Blender
3. SolidWorks

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Debugging

1. If your model falls, whenever you spawn it in gazebo, readjust the center of mass of the prop in Blender.

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Resources/Tutorials

Download a 3D model and load it into a Gazebo simulation

[ROS Tutorials] How to open a solidworks model in gazebo

[ROS Q&A] 054 - buoyancy neutral object goes up with hydrodynamics plugin #Part 1

[ROS Q&A] 066 - buoyancy neutral object goes up with hydrodynamics plugin #Part 2

[ROS Tutorials] 068 - buoyancy neutral object goes up with hydrodynamics plugin #Part 3