userdoc.rst

github_url:	https://github.com/edxmorgan/uvms-simulator/blob/main/doc/userdoc.rst

Reach Alpha Blue Heavy Dynamics Simulator

The Reach Alpha Blue Heavy Dynamics Simulator includes an interface plugin that supports multiple state and command interfaces.

Tutorial Steps

1. Verify the Simulator Descriptions

   To check that the Reach Alpha Blue Heavy Sim descriptions are working correctly, use the following launch command:

   ros2 launch ros2_control_blue_reach_5 view_robot.launch.py

2. Start the Reach Alpha 5 Example

   Open a terminal, source your ROS2 workspace, and execute the launch file with:

   ros2 launch ros2_control_blue_reach_5 robot_system_multi_interface.launch.py

   Useful launch-file options:

   • use_manipulator_hardware:=false: Starts the simulator and connects to a real reach alpha hardware manipulator in the loop. Default value is false
   • use_vehicle_hardware:=false: Starts the simulator and connects to a real bluerov2 heavy underwater vehicle in the loop. Default value is false
   • sim_robot_count:=n: Starts the simulator by spawning n number of underwater vehicle manipulator systems.

   example launch command with options

   ros2 launch ros2_control_blue_reach_5 robot_system_multi_interface.launch.py use_manipulator_hardware:=true use_vehicle_hardware:=true sim_robot_count:=4

   The launch file will load and start the robot hardware, controllers, and open RViz. You will see extensive output from the hardware implementation in the terminal, showing its internal states.

3. Verify Running Controllers

   To check which controllers are currently active, run:

   ros2 control list_controllers

   The output should look like:

   fts_broadcaster_1   [force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active
   joint_state_broadcaster[joint_state_broadcaster/JointStateBroadcaster] active
   fts_broadcaster_3   [force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active
   imu_broadcaster_2   [imu_sensor_broadcaster/IMUSensorBroadcaster] active
   imu_broadcaster_3   [imu_sensor_broadcaster/IMUSensorBroadcaster] active
   imu_broadcaster_real[imu_sensor_broadcaster/IMUSensorBroadcaster] active
   fts_broadcaster_2   [force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active
   imu_broadcaster_4   [imu_sensor_broadcaster/IMUSensorBroadcaster] active
   imu_broadcaster_1   [imu_sensor_broadcaster/IMUSensorBroadcaster] active
   fts_broadcaster_4   [force_torque_sensor_broadcaster/ForceTorqueSensorBroadcaster] active
   forward_effort_controller[forward_command_controller/ForwardCommandController] active

   Observe how this output changes based on the launch file arguments used.