Easys_sim

Simple simulator for underwater robot Easys

Environment

• Ubuntu 22.04
• ROS2 Humble
• Gazebo Garden

Setup

Manual setup

sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
sudo apt update
sudo apt install -y libgz-sim7-dev ros-humble-ros-gzgarden
cd colcon_ws/src
git clone https://github.com/hrjp/Easys_sim
git clone https://github.com/hrjp/Easys_ros
cd ..
colcon build --symlink-install
source install/setup.sh

Use docker

Setup container

/bin/bash -c "$(curl -fsSL https://raw.githubusercontent.com/hrjp/Easys_sim/main/docker/humble/run.bash)" -w

On second startup

./easys_sim.bash

Usage

joy control

ros2 launch Easys_description sim.launch.xml

Under Water Robocon

ros2 launch uw_robocon_sim joy_sim.launch.xml

Demo video

Joy control

sim_demo1.mp4

Under Water Robocon

easys-a1-demo-.7.mp4