This package delivers a ROS2 interface for the Stonefish library. It also includes a standard simulator node, which loads the simulation scenario from a scenario description file (XML). The included parser extends the standard functionality of the Stonefish library to enable search for files, resolution of parameters as well as a complete message interface.
- Install the open-source Stonefish library (the same version as the ROS2 package!).
- Clone the stonefish_ros2 package to your workspace.
- Compile the workspace.
To run the standard simulator node you have to include the 'stonefish_simulator.launch.py' file in your own launch file, overriding the default arguments. Please refer to the documentation for details.
This software was written and is continuously developed by Patryk Cieślak.
If you find this software useful in your research, please cite:
Patryk Cieślak, "Stonefish: An Advanced Open-Source Simulation Tool Designed for Marine Robotics, With a ROS Interface", In Proceedings of MTS/IEEE OCEANS 2019, June 2019, Marseille, France
@inproceedings{stonefish,
author = {Cie{\'s}lak, Patryk},
booktitle = {OCEANS 2019 - Marseille},
title = {{Stonefish: An Advanced Open-Source Simulation Tool Designed for Marine Robotics, With a ROS Interface}},
month = jun,
year = {2019},
doi={10.1109/OCEANSE.2019.8867434}}
I offer paid support on setting up the simulation of your own systems, including necessary 3D modelling (simplification of CAD models for physics, preparation of accurate visualisations, etc.), setup of simulation scenarios, development of new sensors, actuators, and custom features that do not require significant changes to the code base. Please contact me at patryk.cieslak@udg.edu.
Currently there is no funding of this work. It is developed by the author following his needs and requests from other users.
This is free software, published under the General Public License v3.0.