Underwater Vehicle & Manipulator Simulator and Hardware Framework

A ros2_control framework for simulating and interfacing with the BlueROV Heavy and Reach Alpha 5 manipulator.

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Features

• Realistic Dynamics: Close to real simulation of underwater vehicle and manipulator behavior.
• Multi-Agent Support: Simulate multiple agents in a shared environment.
• Hardware-in-the-Loop Support: Interface with real blueROV heavy robot, including A50 DVL and reach alpha 5 manipulator.
• Internal Kalman Filter: Implements sensor fusion for robust state estimate.

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Dynamics Foundation

• Extends diff_uv
• Extends diff_uvms

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Setup

Prerequisites

1. Install ROS2:
   Follow the ROS2 Installation Guide.

2. Ensure $ROS_DISTRO is Set:
   Confirm that the environment variable $ROS_DISTRO is correctly set:

   echo $ROS_DISTRO

   If not, set it to your ROS2 distribution (e.g., humble):

   export ROS_DISTRO=humble

3. Install Required Dependencies:
   Use your package manager to install dependencies:

   sudo apt-get install git-lfs \
       ros-$ROS_DISTRO-hardware-interface ros-$ROS_DISTRO-xacro \
       ros-$ROS_DISTRO-controller-manager ros-$ROS_DISTRO-joint-state-broadcaster \
       ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-forward-command-controller \
       ros-$ROS_DISTRO-ros2-control ros-$ROS_DISTRO-mavros ros-$ROS_DISTRO-mavros-msgs \
       ros-$ROS_DISTRO-nav2-msgs ros-$ROS_DISTRO-force-torque-sensor-broadcaster ros-$ROS_DISTRO-tf-transformations

4. Install CasADi:
   Follow the CasADi Installation Instructions.

5. Clone Additional Packages:

   • uvms_dynamics_ros2_control
   • uvms_interfaces

Installation Steps

1. Clone the Repository:
   In your ROS2 workspace's src directory, clone the project:

   cd /absolute/path/to/your_ros2_workspace/src
   git clone https://github.com/edxmorgan/uvms-simulator.git

2. Install Dependencies:
   From the root of your workspace, install any missing dependencies:

   cd /absolute/path/to/your_ros2_workspace
   rosdep install --from-paths src --ignore-src -r -y

3. Build the Workspace:
   Compile the project:

   colcon build

4. Source the Setup File:
   Update your environment:

   source install/setup.bash

Replace /absolute/path/to/your_ros2_workspace with the actual absolute path to your ROS2 workspace.

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Documentation & Use Cases

• User Guide: User Documentation
• HIL Setup: Hardware-in-the-Loop Instructions
• Manual Control: For PS4 joystick control and coverage examples, clone uvms_simlab.

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Resources & Contributing

• ROS Control
• Reach Robotics SDK
• Blue Robotics

Contributions are welcome! Please open an issue or submit a pull request.

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License

This project is licensed under the MIT License.