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cabinx / cabin_auv_simulation

simulation environment, with gazebo&ros, for the project cabin_auv_ws
BSD 3-Clause "New" or "Revised" License
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cabin_auv_simulation

Simulation environment, with gazebo&ros, for the project cabin_auv_ws, a simple demo for rov/auv underwater object tracking based on ros. image A test video can be found in the media folder.

Attention:

the simulation rely on the uuv_simulator.

darknet_ros is also needed for tracking.

Install:

mkdir -p catkin_ws/src
cd catkin_ws/src
git clone https://github.com/uuvsimulator/uuv_simulator.git
git clone https://github.com/cabinx/cabin_auv_simulation.git
cd ..
catkin_make

Test:

  1. roslaunch bluerov2h_gazebo bluerov2h_origin.launch
  2. roslaunch cabin_controllers gazebo_sim.launch
  3. start your darknet_ros application
  4. rosrun rqt_reconfigure rqt_reconfigre
  5. tuning the parameter, turn on the tracking_switch in the rqt_reconfigre panel

The robot can also be controlled by a joystick with the package cabin_teleop.