https://github.com/osrf/mbzirc
Simulator for the MBZIRC Maritime Grand Challenge
https://github.com/osrf/mbzirc
Last synced: 12 months ago
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Simulator for the MBZIRC Maritime Grand Challenge
- Host: GitHub
- URL: https://github.com/osrf/mbzirc
- Owner: osrf
- License: apache-2.0
- Created: 2021-12-09T02:14:26.000Z (over 4 years ago)
- Default Branch: main
- Last Pushed: 2022-08-31T23:20:21.000Z (almost 4 years ago)
- Last Synced: 2024-10-31T18:38:38.466Z (over 1 year ago)
- Language: C++
- Size: 16 MB
- Stars: 73
- Watchers: 8
- Forks: 46
- Open Issues: 39
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
# MBZIRC Maritime Grand Challenge Simulator
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.
## Installation
### Prerequsite
* 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
### Installation from Source
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
```
1. 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
```
1. Install dependencies using [rosdep](https://docs.ros.org/en/galactic/Installation/Ubuntu-Install-Binary.html#installing-and-initializing-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
```
1. 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 setup
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
```
1. 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
```
1. The process can take a few minutes. Once it is done, you can launch the
Docker container:
```
cd docker
bash run.bash mbzirc_sim
```
## Running the simulator
Please see the wiki: https://github.com/osrf/mbzirc/wiki