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Vehicle model description and configuration files for the RexROV 2 test underwater vehicle.

Home Page: https://uuvsimulator.github.io/

License: Apache License 2.0

CMake 13.94% Python 24.94% Shell 61.11%

gazebo ros rov uuv swarms-project uuv-simulator

rexrov2's Introduction

RexROV 2

Link to the rexrov2 repository here

Link to the documentation page

Chat on Discord

This repository contains the robot description and necessary launch files to simulate the RexROV 2 unmanned underwater vehicle. This repository is complementary to the Unmanned Underwater Vehicle Simulator (UUV Simulator), an open-source project extending the simulation capabilities of the robotics simulator Gazebo to underwater vehicles and environments. For installation and usage instructions, please refer to the documentation pages.

The dimensions and parameters for the RexROV 2 are derived from the published model parameters for the SF 30k ROV [1].

[1] Berg, Viktor. Development and Commissioning of a DP system for ROV SF 30k. MS thesis. Institutt for marin teknikk, 2012.

Purpose of the project

This software is a research prototype, originally developed for the EU ECSEL Project 662107 SWARMs.

The software is not ready for production use. However, the license conditions of the applicable Open Source licenses allow you to adapt the software to your needs. Before using it in a safety relevant setting, make sure that the software fulfills your requirements and adjust it according to any applicable safety standards (e.g. ISO 26262).

Requirements

To simulate the RexROV 2 vehicle, please refer to the UUV Simulator repository and follow the installation instructions of the package. Then you can clone this package in the src folder of you catkin workspace

cd ~/catkin_ws/src
git clone https://github.com/uuvsimulator/rexrov2.git

and then build your catkin workspace

cd ~/catkin_ws
catkin_make # or <catkin build>, if you are using catkin_tools

Example of usage

To run a demonstration with the vehicle with teleoperation, you can run a UUV simulator Gazebo scenario, such as

roslaunch rexrov2_gazebo start_demo_pid_controller.launch teleop_on:=true joy_id:=0

The teleoperation nodes are pre-configured per default for the XBox 360 controller.

License

RexROV 2 package is open-sourced under the Apache-2.0 license. See the LICENSE file for details.

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rexrov2's Issues

Catkin_make error

After clone the directory to de src ROS directory to create a new workspace I'm having a problem. When I used the rexrov2 directory I didn't have any problem to create the ROS workspace.

Running command: "make -j8 -l8" in "/home/gabriel/catkin_ws/build"

[ 0%] Built target geometry_msgs_generate_messages_cpp
[ 0%] Built target geometry_msgs_generate_messages_eus
[ 0%] Built target geometry_msgs_generate_messages_nodejs
[ 0%] Built target std_msgs_generate_messages_py
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[ 0%] Built target geometry_msgs_generate_messages_py
[ 0%] Built target std_msgs_generate_messages_cpp
[ 0%] Built target std_msgs_generate_messages_eus
[ 0%] Built target std_msgs_generate_messages_lisp
[ 0%] Built target geometry_msgs_generate_messages_lisp
[ 0%] Built target uuv_control_cascaded_pid_gencfg
[ 0%] Built target _uuv_auv_control_allocator_generate_messages_check_deps_AUVCommand
[ 0%] Built target _uuv_control_msgs_generate_messages_check_deps_Hold
[ 0%] Built target _uuv_control_msgs_generate_messages_check_deps_ClearWaypoints
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[ 0%] Built target _uuv_control_msgs_generate_messages_check_deps_GetMBSMControllerParams
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[ 0%] Built target _uuv_control_msgs_generate_messages_check_deps_GetSMControllerParams
[ 0%] Built target _uuv_control_msgs_generate_messages_check_deps_Waypoint
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[ 0%] Built target _uuv_control_msgs_generate_messages_check_deps_SwitchToAutomatic
[ 0%] Built target uuv_control_msgs_generate_messages_check_deps_GetWaypoints
make[2]: *** No rule to make target '/home/gabriel/catkin_ws/src/uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/PROTOBUF_PROTOC_EXECUTABLE-NOTFOUND', needed by 'uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/Accel.pb.cc'. Stop.
CMakeFiles/Makefile2:4791: recipe for target 'uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeFiles/uuv_gazebo_plugins_msgs.dir/all' failed
make[1]: *** [uuv_simulator/uuv_gazebo_plugins/uuv_gazebo_plugins/CMakeFiles/uuv_gazebo_plugins_msgs.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
[ 0%] Built target uuv_descriptions_xacro_generated_to_devel_space
[ 0%] Built target _uuv_control_msgs_generate_messages_check_deps_SetPIDParams
[ 0%] Built target _uuv_control_msgs_generate_messages_check_deps_InitCircularTrajectory
[ 0%] Built target _catkin_empty_exported_target
[ 1%] Built target uuv_dynamics
[ 1%] Built target _uuv_control_msgs_generate_messages_check_deps_InitHelicalTrajectory
[ 1%] Built target _uuv_control_msgs_generate_messages_check_deps_InitRectTrajectory
Makefile:138: recipe for target 'all' failed
make: *** [all] Error 2
Invoking "make -j8 -l8" failed

Remove old CI files

Set industrial_ci Travis CI from master branch

Having a hard time control the robot rexrov2

Firstly I want to say thank you for the amazing project, UUV Simulator! It is really a great implementation for underwater simulation!

However, I have a question about its control. I found when I used the following commands:
roslaunch uuv_tutorial_dp_controller start_tutorial_dp_controller_demo.launch roslaunch uuv_teleop uuv_keyboard_teleop.launch uuv_name:=rexrov；
to control rexrov with the keyboard, the robot will move smoothly initially. However, after several steps, the robot will start to be sloping and move in an aberrant direction (for example, I give it a command to move upward, however, it will take an upward synclinal motion)

At last, the robot's motion even goes crazy. After a series of control commands, the robot starts to roll aiminglessly and at this moment I'm not offering any control commands. It seems that this controller has a weak ability in feedback control and the errors are accumulated.

Do you have any suggestions on this problem? And is there any alternative launch file (controller) provided in the UUV Simulator project?

ResourceNotFound: uuv_simulation_wrapper

hi,when i run the command "roslaunch rexrov2_gazebo start_demo_pid_controller.launch teleop_on:=true joy_id:=0",the following erroe occurred!

ResourceNotFound: uuv_simulation_wrapper
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/home/ccs/catkin_uuv/src
ROS path [2]=/home/ccs/cartographer_ws/catkin_ws/src
ROS path [3]=/home/ccs/catkin_robot/src
ROS path [4]=/home/ccs/catkin_bluerov/src
ROS path [5]=/opt/ros/kinetic/share

what should i do to solve this problem? thank you!