This repository contains simulation software created for the MBZIRC Maritime Grand Challenge.
This simulator will be enhanced with additional features throughout the simulation phase of the MBZIRC Maritime Grand Challenge.
See Installation instructions for:
Ignition Fortress: https://ignitionrobotics.org/docs/fortress
ROS2 Galactic: https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html
Create a colcon workspace and clone the mbzirc repo
mkdir -p ~/mbzirc_ws/src
cd ~/mbzirc_ws/src
git clone https://github.com/osrf/mbzirc.git
Clone the ros_ign
repo and check out the galactic
branch
cd ~/mbzirc_ws/src
git clone https://github.com/ignitionrobotics/ros_ign.git -b galactic
Install dependencies using rosdep
cd ~/mbzirc_ws
rosdep update
rosdep install -r --from-paths src -i -y --rosdistro galactic
Make sure the ros-galactic-mavros-msgs
package is installed, e.g.
dpkg -l | grep ros-galactic-mavros-msgs
If not, install it:
sudo apt install ros-galactic-mavros-msgs
Build the workspace
cd ~/mbzirc_ws
IGNITION_VERSION=fortress colcon build --merge-install
Note: Make sure to set the IGNITION_VERSION
to fortress
. This is needed for building the ros_ign
package.
Docker images are available on Docker Hub: https://hub.docker.com/repository/docker/osrf/mbzirc
Pull the latest version of the docker image
docker pull osrf/mbzirc:mbzirc_sim_latest
Clone the repo and launch a Docker container from the image using the run.bash
script. Note: requires nvidia-docker2
git clone https://github.com/osrf/mbzirc.git
cd mbzirc/docker
bash run.bash osrf/mbzirc:mbzirc_sim_latest /bin/bash
To build a docker image of the simulator locally:
Navigate to the docker
directory and build the mbzirc_sim
Docker image
cd mbzirc
bash docker/build.bash mbzirc_sim
The process can take a few minutes. Once it is done, you can launch the Docker container:
cd docker
bash run.bash mbzirc_sim
Please see the wiki: https://github.com/osrf/mbzirc/wiki