ros_ship_packages
USV simulator for ROS
how to build
1.cd ~/catkin_ws/src 2.git@github.com:hakuturu583/ros_ship_packages.git 3.cd ../ 4.sudo apt install ros-kinetic-jsk- 5.ros-kinetic-hector-gazebo 6.sudo apt install ros-kinetic-nmea 7.sudo apt install ros-kinetic-velodyne 8.sudo apt install ros-kinetic-nmea 9.sudo apt install ros-kinetic-robot-pose-ekf 10.sudo apt install ros-kinetic-gps 11.catkin_make
robot model
ros_ship
simulated sensors
camera,VLP-16
how to launch
roslaunch ros_ship_description ros_ship.launch
WAM-V
simulated sensors
gps,imu,camera,VLP-16,laser(2D)
how to launch
roslaunch ros_ship_gazebo_plugins wam-v_gazebo.launch
packages
ros_ship_control
ROS package for control simulated USV
ros_ship_description
ROS package for ros_ship_description(urdf,xacro,mesh,world files,etc..)
ros_ship_gazebo_plugins
gazebo plugins for simlated USV
simple_buoyancy_plugin
gazebo plugin for calculating buoyancy in a very simple way.
world_frame_publisher_plugin
gazebo plugin for broadcast gazebo_world frame.
simple_driving_force_plugin
gazebo plugin for calculating driving force from joint speed and ship speed
ros_ship_msgs
messages for ros_ship_packages
ros_ship_navigation
navigation package for ros_ship
ros_ship_recognition
recognition package for ros_ship
object_recognition_node
object recognition node by using PCL(point cloud library)
set rosparams like below
stl and mesh file must be puted on (ros_ship_packages)/data/
ros_ship_visualization
gps_plotter.py
plot gps data from /fix(sensor_msgs/NavSatFix) and publish map image via google static map API
S is start point of ship
C is current position of the ship
kml_plotter.py
plot gps data from /fix(sensor_msgs/NavSatFix) topic in kml format
plot_characteristic_curve.py
plot characteristic curve in .eps and .jpeg format
