多船协同动力定位仿真系统

• 基于Ubuntu

• 基于C++

• 基于ROS系统

• 给予GAZEBO

• 可视化仿真

安装

prerequisites

$ sudo apt update
$ sudo apt full-upgrade

$ sudo sh -c 'echo "deb http://packages.ros.org/ros/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/ros-latest.list'
$ sudo apt-key adv --keyserver 'hkp://keyserver.ubuntu.com:80' --recv-key C1CF6E31E6BADE8868B172B4F42ED6FBAB17C654
$ 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
$ DIST=melodic
$ GAZ=gazebo9
$ sudo apt install cmake mercurial git ruby libeigen3-dev ${GAZ} lib${GAZ}-dev pkg-config python ros-${DIST}-gazebo-plugins ros-${DIST}-gazebo-ros ros-${DIST}-hector-gazebo-plugins ros-${DIST}-joy ros-${DIST}-joy-teleop ros-${DIST}-key-teleop ros-${DIST}-robot-localization ros-${DIST}-robot-state-publisher ros-${DIST}-joint-state-publisher ros-${DIST}-rviz ros-${DIST}-ros-base ros-${DIST}-teleop-tools ros-${DIST}-teleop-twist-keyboard ros-${DIST}-velodyne-simulator ros-${DIST}-xacro ros-${DIST}-rqt ros-${DIST}-rqt-common-plugins protobuf-compiler

第三方库安装

# install GeographicLib
cd third_party/
tar xvf GeographicLib-1.50.tar.gz
cd GeographicLib-1.50
sudo mkdir -m 777 BUILD
cd BUILD
cmake ..
sudo make 
sudo make install

install(可能暂时有点问题)

$ mkdir -p ~/vrx_ws/src
$ cd ~/vrx_ws/src
$ git clone https://github.com/zhenqiufu/vrx_ws.git

$ source /opt/ros/melodic/setup.bash

$ cd ~/vrx_ws
$ catkin_make

测试一

$ source  ~/vrx_ws/devel/setup.bash

$ roslaunch vrx_gazebo sandisland.launch

• 如果出现仿真界面, 则第一步成功,已经安装成功单船仿真.

测试二

cd ~/vrx_ws
catkin_make
source devel/setup.bash

roslaunch rxi rxi_multi.launch verbose:=true

节点关系与话题

rosrun rqt_graph rqt_graph

键盘控制

roslaunch rxi defender_keydrive.launch namespace:=defender_a
roslaunch rxi defender_keydrive.launch namespace:=defender_b

joystick控制