UUV Simulator: Based on Gazebo
使用版本:Ubuntu20.04 + ros Noetic + gazebo 11
下载
https://github.com/arturmiller/uuv_simulator/tree/noetic
或者直接通过命令行下载
在uuv_ws/src中下载uuvsimulator
git clone https://github.com/uuvsimulator/eca_a9.git
在uuv_ws/src中下载rca_a9
git clone --branch noetic https://github.com/arturmiller/uuv_simulator.git
编译及环境变量配置
cd ~/uuv_ws
catkin build 或者catkin_make
source ./devel/setup.bash
运行rexrov仿真
roslaunch uuv_gazebo start_pid_demo_with_teleop.launch
rosbag record -O sim_20240225.bag /gazebo/model_states /rexrov/gps /rexrov/dvl /rexrov/imu /rexrov/thruster_manager/input_stamped /rexrov/pressure