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.

• Platform: Ubuntu 20.04 (Focal)
• Ignition Fortress
• ROS2 Galactic

See Installation instructions for:

• Ignition Fortress: https://ignitionrobotics.org/docs/fortress

• ROS2 Galactic: https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Debians.html

1. 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
   

2. 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
   

3. 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
   

4. 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

1. Pull the latest version of the docker image

   docker pull osrf/mbzirc:mbzirc_sim_latest
   

2. 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:

1. Navigate to the docker directory and build the mbzirc_sim Docker image

   cd mbzirc
   bash docker/build.bash mbzirc_sim
   

2. 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