ROS Index
No version for distro humble. Known supported distros are highlighted in the buttons above.
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Repository Summary
| Description | Simple WAM-V Simulation for ROS 2 Jazzy + Gazebo Harmonic based on VRX |
| Checkout URI | https://github.com/david-dorf/wamv_gz.git |
| VCS Type | git |
| VCS Version | main |
| Last Updated | 2025-03-18 |
| Dev Status | UNKNOWN |
| CI status | No Continuous Integration |
| Released | UNRELEASED |
| Tags | No category tags. |
| Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Packages
| Name | Version |
|---|---|
| wamv_gz | 0.0.1 |
README
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
- Download ROS 2 Jazzy
- Download Gazebo Harmonic
- Download ros_gz with
sudo apt-get install ros-jazzy-ros-gz - Create a ROS 2 workspace and clone this repository into the /src directory
- 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
- 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"
- 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
CONTRIBUTING
No CONTRIBUTING.md found.
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