uuv_cave_world

Introduction

This repository contains the tools to generate a very realistic model of an underwater world containing a karst (cave) thanks to the Gazebo software. This simulation was possible thanks to the work of:

@inproceedings{Manhaes_2016, doi = {10.1109/oceans.2016.7761080}, url = {https://doi.org/10.1109%2Foceans.2016.7761080}, year = 2016, month = {sep}, publisher = {{IEEE}}, author = {Musa Morena Marcusso Manh{\~{a}}es and Sebastian A. Scherer and Martin Voss and Luiz Ricardo Douat and Thomas Rauschenbach}, title = {{UUV} Simulator: A Gazebo-based package for underwater intervention and multi-robot simulation}, booktitle = {{OCEANS} 2016 {MTS}/{IEEE} Monterey} }

Here is an overview of the generated world :

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As you can see I have made the cave transparent in order to have a better visualization of the robot moving inside. But for the sake of realism you can make it opaque. Just edit the file: model.sdf.

Note

In this Markdown, I explain the installation of each element in an exhaustive way because this repository is created in order to bring together people with different backgrounds around the same formalism. If you have bases in ROS and Gazebo, install this package the way you want.

Installation

The installation is very simple if you have followed the installation procedure here. All you have to do is type the following commands :

    cd ~/workspaceRos/src
    git clone https://github.com/Paul-antoineLeTolguenec/uuv_cave_world.git
    cd ~/workspaceRos
    catkin_make

Create your own world

if you want to create your own world, you can follow the procedure here.

To get a custom simulation you can use blender and create any element :

Launch the simulation

To launch the simulation you just have to go into the terminal and run :

    roslaunch uuv_cave_world simulation.launch