A simulator for the BlueROV Heavy equipped with a Reach Alpha 5 manipulator based on ros2_control framework. Integrates Thor Fossen’s underwater dynamics with Featherstone's manipulator dynamics algorithm for realistic simulations.
- Realistic Dynamics: Accurate simulation of underwater vehicle and manipulator behaviors.
- Multi-Agent Support: Simulate multiple agents within a shared environment.
- Video Demonstration:
Ensure the following dependencies are installed:
sudo apt-get install git-lfs
sudo apt-get install ros-humble-hardware-interface
sudo apt-get install ros-humble-xacro
sudo apt-get install ros-humble-controller-manager
sudo apt-get install ros-humble-joint-state-broadcaster
sudo apt-get install ros-humble-joint-state-publisher-gui
sudo apt-get install ros-humble-forward-command-controller
sudo apt-get install ros-humble-ros2-control
# Install CasADi (required for dynamics and kinematics calculations)
# Follow the installation instructions on the CasADi wiki:
# https://github.com/casadi/casadi/wiki/InstallationLinux
# Initialize Git LFS and pull the necessary files for dynamics and kinematics
git lfs install
git lfs pullClone additional packages to ros2 workspace:
- Clone the repository:
git clone https://github.com/yourusername/blue-heavy-dynamics-simulator.git
- Navigate to the project directory:
cd blue-heavy-dynamics-simulator - Install dependencies:
rosdep install --from-paths src --ignore-src -r -y
- Build the workspace:
colcon build
- Source the workspace:
source install/setup.bash
This simulator incorporates and extends:
For detailed setup and usage instructions, refer to the User Documentation.
Contributions are welcome! Please open an issue or submit a pull request for enhancements or bug fixes.
This project is licensed under the MIT License.