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Buoyonce

This repository holds the code for the Guidance, Navigation and Control (GNC) system on the USV Buoyonce. The USV uses the WAM-V platorm and the Virtual RobotX simulation environment cited below:

@InProceedings{bingham19toward,
  Title                    = {Toward Maritime Robotic Simulation in Gazebo},
  Author                   = {Brian Bingham and Carlos Aguero and Michael McCarrin and Joseph Klamo and Joshua Malia and Kevin Allen and Tyler Lum and Marshall Rawson and Rumman Waqar},
  Booktitle                = {Proceedings of MTS/IEEE OCEANS Conference},
  Year                     = {2019},
  Address                  = {Seattle, WA},
  Month                    = {October}
}

The original VRX simulator is found at https://github.com/osrf/vrx with detailed tutorials. New launch files and sensor configurations has been added and can be found at: https://github.com/knuttu94/vrx_simulator

Requirements

  • Ubuntu 18.04
  • ROS Melodic
  • VRX Simulator

Getting started

TODO:

  • Launch simulator
  • Launch GNC
  • Launch GUI

Contacts