ros_ship_packages

USV simulator for ROS

how to build

1.cd ~/catkin_ws/src 2.git@github.com:hakuturu583/ros_ship_packages.git 3.cd ../ 4.sudo apt install ros-kinetic-jsk-* 5.ros-kinetic-hector-gazebo* 6.sudo apt install ros-kinetic-nmea* 7.sudo apt install ros-kinetic-velodyne* 8.sudo apt install ros-kinetic-nmea* 9.sudo apt install ros-kinetic-robot-pose-ekf 10.sudo apt install ros-kinetic-gps* 11.catkin_make

robot model

ros_ship

simulated sensors

camera,VLP-16

how to launch

roslaunch ros_ship_description ros_ship.launch

WAM-V

demo buoy recognition demo

simulated sensors

gps,imu,camera,VLP-16,laser(2D)

how to launch

roslaunch ros_ship_gazebo_plugins wam-v_gazebo.launch

packages

ros_ship_control

ROS package for control simulated USV

ros_ship_description

ROS package for ros_ship_description(urdf,xacro,mesh,world files,etc..)

ros_ship_gazebo_plugins

gazebo plugins for simlated USV

simple_buoyancy_plugin

gazebo plugin for calculating buoyancy in a very simple way.

world_frame_publisher_plugin

gazebo plugin for broadcast gazebo_world frame.

simple_driving_force_plugin

gazebo plugin for calculating driving force from joint speed and ship speed

ros_ship_msgs

messages for ros_ship_packages

ros_ship_navigation

navigation package for ros_ship

ros_ship_recognition

recognition package for ros_ship

object_recognition_node

object recognition node by using PCL(point cloud library) set rosparams like below stl and mesh file must be puted on (ros_ship_packages)/data/

ros_ship_visualization

gps_plotter.py

plot gps data from /fix(sensor_msgs/NavSatFix) and publish map image via google static map API S is start point of ship C is current position of the ship

kml_plotter.py

plot gps data from /fix(sensor_msgs/NavSatFix) topic in kml format

plot_characteristic_curve.py

plot characteristic curve in .eps and .jpeg format