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Repository Summary

Checkout URI	https://github.com/uji-ros-pkg/underwater_simulation.git
VCS Type	git
VCS Version	melodic-devel
Last Updated	2020-03-15
Dev Status	DEVELOPED
CI status	No Continuous Integration
Released	RELEASED
Tags	No category tags.
Contributing	Help Wanted (0) Good First Issues (0) Pull Requests to Review (0)

Packages

Name	Version
underwater_sensor_msgs	1.4.2
underwater_vehicle_dynamics	1.4.2
uwsim	1.4.2

README

UWSim-NET: UWSim with Network Simulator

The new version of UWSim intregates a Network Simulator to be used along with the dccomms API. This simulator uses the NS3 libraries and the AquaSimNG as a NS3 module. The documentation related to simulate communications is a work in progress and will be included in the Wiki as soon as we can (please, be patience).

Wiki

http://www.irs.uji.es/uwsim/wiki/index.php?title=Main_Page

Citations

Prats, M.; Perez, J.; Fernandez, J.J.; Sanz, P.J., “An open source tool for simulation and supervision of underwater intervention missions”, 2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2577-2582, 7-12 Oct. 2012
Centelles, D.; Soriano-Asensi, A.; Martí, J.V.; Marín, R.; Sanz, P.J. Underwater Wireless Communications for Cooperative Robotics with UWSim-NET. Appl. Sci. 2019, 9, 3526.

Issues

Exception GeographicLib::GeographicErr when starting uwsim

If you are getting the following error output when executing rosrun uwsim uwsim:

 ...
 data/objects/gun.osg
 Starting UWSim...
 Loading SimulatedDevices plugin: 'AcousticCommsDevice_Factory'
 Loading SimulatedDevices plugin: 'CustomCommsDevice_Factory'
 Loading SimulatedDevices plugin: 'DredgeTool_Factory'
 Loading SimulatedDevices plugin: 'ForceSensor_Factory'
 Loading SimulatedDevices plugin: 'SimDev_Echo_Factory'
  . Setting localized world: 7.1e-05s
 terminate called after throwing an instance of 'GeographicLib::GeographicErr'
  what():  File not readable /usr/share/GeographicLib/geoids/egm96-5.pgm
 /opt/ros/melodic/lib/uwsim/uwsim: line 23:  1452 Aborted                 (core dumped) rosrun uwsim uwsim_binary --dataPath ~/.uwsim/data $@

Run the following commands to fix it:

  wget https://raw.githubusercontent.com/mavlink/mavros/master/mavros/scripts/install_geographiclib_datasets.sh
  chmod u+x install_geographiclib_datasets.sh
  sudo ./install_geographiclib_datasets.sh

CONTRIBUTING

No CONTRIBUTING.md found.

underwater_simulation repository