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wamv_gz package from wamv_gz repo

wamv_gz

API Docs
Browse Code

Package Summary

Tags No category tags.
Version 0.0.1
License Apache License 2.0
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/david-dorf/wamv_gz.git
VCS Type git
VCS Version main
Last Updated 2025-03-18
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

ROS 2 Jazzy package for simulating the WAM-V USV in Gazebo Harmonic

Additional Links

No additional links.

Maintainers

  • David Dorf

Authors

No additional authors.
README.md

wamv_gz

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

Installation

  1. Download ROS 2 Jazzy
  2. Download Gazebo Harmonic
  3. Download ros_gz with sudo apt-get install ros-jazzy-ros-gz
  4. Create a ROS 2 workspace and clone this repository into the /src directory
  5. 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
  1. 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"
  1. 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
CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

Deps Name
ament_cmake
rclcpp
launch
launch_ros
ros_gz_sim
std_msgs
ament_lint_auto
ament_lint_common

System Dependencies

No direct system dependencies.

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged wamv_gz at Robotics Stack Exchange

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